Spot ROS Driver

Prerequisite

pip3 install bosdyn-client bosdyn-mission bosdyn-api bosdyn-core

Documentation

Check-out the usage and user documentation HERE

Building Quick-Start

NOTE: please follow the link above for the complete documentation. You will need to configure the networking on both your computer and the base Spot platform before you can run the driver.

Install Dependencies

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-ros-base

sudo apt update
sudo apt install -y python3-pip
pip3 install cython
pip3 install bosdyn-client bosdyn-mission bosdyn-api bosdyn-core
pip3 install empy

Building for Melodic

Please note that the Spot SDK uses Python3, which is not officially supported by ROS Melodic. If you encounter an error of this form:

Traceback (most recent call last):
  File "/home/administrator/catkin_ws/src/spot_ros/spot_driver/scripts/spot_ros", line 3, in <module>
    from spot_driver.spot_ros import SpotROS
  File "/home/administrator/catkin_ws/src/spot_ros/spot_driver/src/spot_driver/spot_ros.py", line 19, in <module>
    import tf2_ros
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 38, in <module>
    from tf2_py import *
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/__init__.py", line 38, in <module>
    from ._tf2 import *
ImportError: dynamic module does not define module export function (PyInit__tf2)

when launching the driver, please follow these steps:

1. rm -rf devel/ build/ install/ -- this will remove any old build artifacts from your workspace

2. git clone https://github.com/ros/geometry2 --branch 0.6.5 into your src folder

3. rebuild your workspace with

catkin_make --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

4. re-run source devel/setup.bash

5. start the driver with roslaunch spot_driver driver.launch