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webots_spot package from webots_ros2_spot repo

webots_spot

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Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/maskor/webots_ros2_spot.git
VCS Type git
VCS Version main
Last Updated 2025-03-07
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

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Maintainers

  • max

Authors

No additional authors.
README.md

Webots ROS2 Spot

ROS2 Humble

This is a ROS 2 package to simulate the Boston Dynamics spot in webots. Spot is able to walk around, to sit, standup and lie down. We also attached some sensors on spot, like a kinect and a 3D laser. The world contains apriltags, a red line to test lane follower and objects for manipulation tasks.

Spot

Prerequisites

- Ubuntu 22.04
- ROS2 Humble https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
- Webots 2025a https://github.com/cyberbotics/webots/releases/tag/R2025a

Install

  1. Install ROS2 Development tools and initialise and update rosdep:
    sudo apt install -y ros-dev-tools
    

    source /opt/ros/humble/setup.bash
    sudo rosdep init
    rosdep update
  1. Create a new ROS2 workspace:
    export COLCON_WS=~/ros2_ws
    mkdir -p $COLCON_WS/src
  1. Pull relevant packages, install dependencies, compile, and source the workspace by using:
    cd $COLCON_WS
    git clone https://github.com/MASKOR/webots_ros2_spot src/webots_ros2_spot
    rosdep install --ignore-src --from-paths src -y -r
    vcs import --recursive src --skip-existing --input src/webots_ros2_spot/webots_ros2_spot.repos
    chmod +x src/webots_ros2/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py
  1. Build packages and source the workspace
    colcon build --symlink-install
    source install/setup.bash

Start

Starting the simulation:

ros2 launch webots_spot spot_launch.py

To launch navigation with Rviz2:

ros2 launch webots_spot nav_launch.py set_initial_pose:=true

To launch mapping with Slamtoolbox:

ros2 launch webots_spot slam_launch.py

Starting MoveIt:

ros2 launch webots_spot moveit_launch.py

Teleop keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard
# OR ros2 run spot_teleop spot_teleop_keyboard for body_pose control as well

To switch to Arena 3

1) Change false to true in https://github.com/MASKOR/webots_ros2_spot/blob/main/resource/spot_control.urdf#L5

2) Change map.yaml to map_arena3.yaml https://github.com/MASKOR/webots_ros2_spot/blob/main/launch/nav_launch.py#L15

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

No service files found

Plugins

No plugins found.

Recent questions tagged webots_spot at Robotics Stack Exchange

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