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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

Description Webots simulation of the spot
Checkout URI https://github.com/maskor/webots_ros2_spot.git
VCS Type git
VCS Version main
Last Updated 2025-04-04
Dev Status UNKNOWN
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

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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 Arenas

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 (map of arena 2 not created)

CHANGELOG
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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

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Plugins

No plugins found.

Recent questions tagged webots_spot at Robotics Stack Exchange

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