README.md

jsk_spot_robot

Manuals

• Supported Documents of Boston Dynamics
• Spot ROS User Documentation

Installation

To setup a new internal PC and spot user, Please see this page.

How to set up a catkin workspace for a remote PC

Create a workspace

source /opt/ros/melodic/setup.bash
mkdir ~/spot_ws/src -p
cd ~/spot_ws/src
wstool init .
wstool set jsk-ros-pkg/jsk_robot https://github.com/k-okada/jsk_robot.git --git -v spot_arm
wstool update
wstool merge -t . jsk-ros-pkg/jsk_robot/jsk_spot_robot/jsk_spot_user.rosinstall
wstool update
rosdep update
rosdep install -y -r --from-paths . --ignore-src
cd $HOME/spot_ws
catkin init
catkin build -j4 jsk_spot_startup spoteus

How to run

Bringup spot

First, please turn on spot and turn on motors according to the OPERATION section of spot user guide and power on the internal PC.

Basically, ros systemd services will start automatically. So you can use spot now.

superviosur

URI: http://<robot_ip>:9001

rwt_app_chooser

URI: http://<robot_ip>:8000/rwt_app_chooser

Development with a remote PC

Please create spot_ws to your PC.

First, connect your development PC's wifi adapter to Access point of the robot.

And for every terminals in this section, Set your ROS_IP and ROS_MASTER_URI and source spot_ws.

rossetmaster <robot ip address or robot_name.local>
rossetip
source ~/spot_ws/devel/setup.bash

spoteus

spoteus is roseus client for ROS Interface of spot_ros.

Open a terminal, setting up it for spot and run roseus repl. ( emacs shell or euslime are recommended. )

Then initialize it for spot

(load "package://spoteus/spot-interface.l")
(spot-init)

You can now control spot from roseus. for example, when you want to move spot 1m forward, type.

(send *ri* :undock)   ;; undock robot
(send *spot* :reset-pose)  ;; change robot pose, use (objects (list *spot*)) to visuailze
(send *ri* :angle-vector (send *spot* :angle-vector) 2000 :default-controller)  ;; send to real robot
(send *ri* :stow-arm)  ;; contorl onbody-api
(send *ri* :sit)

How to set up a catkin workspace in on-bodyPC (for CORE I/O)

First create user account into internal PC

ssh spotcore -l spot
sudo adduser k-okada
sudo adduser k-okada spot
sudo adduser k-okada sudo
sudo adduser k-okada docker

Create a workspace. Make sure that you need to login to spotcore with your account

ssh spotcore -l k-okada
mkdir ~/ws/src -p
cd ~/ws/src
git clone https://github.com/k-okada/jsk_robot.git -b spot_arm
cd ~/ws/src/pot_dev_env/src/jsk_robot/jsk_spot_robot/coreio/base
make build all

To develop your source code, run docker container from ~/bash.sh.

~/bash.sh

If you need to install deb file, update add your favorite package section of jsk_spot_robot/coreio/base/Dockerfile and run make build under ~/ws/src/pot_dev_env/src/jsk_robot/jsk_spot_robot/coreio/base directory. Note that you have to run make build outside of docker container.

## add your favorite package
RUN sudo apt install -y clisp

How to set up a catkin workspace in on-bodyPC (for SPOT CORE)

First create user account into internal PC

ssh spotcore -l spot
sudo adduser k-okada
sudo adduser k-okada spot
sudo adduser k-okada sudo

Create a workspace. Make sure that you need to login to spotcore with your account

ssh spotcore -l k-okada
source /opt/ros/melodic/setup.bash
source ~spot/spot_driver_ws/devel/setup.bash
mkdir ~/spot_ws/src -p
cd ~/spot_ws/src
cd $HOME/spot_ws
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
catkin build -j4 jsk_spot_startup spoteus
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
echo "source ~/spot_ws/devel/setup.bash" >> ~/.bashrc

Run apps

You can run apps manually, this is good for debugging your applications.

roscd jsk_spot_startup/apps/head_lead_demo                                                                       roslaunch head_lead_demo.xml

Install apps

If you would like to call your apps from rwt_app_chooser, you can