This repository hosts Gazebo simulation files for the Boston Dynamics Spot, as well as the software interfaces that allow communication with Spot, via gRPC, over ROS.
This repo notionally depends on gRPC C++, Spot SDK, among others. Some are included as git-submodules, others should be retrieved independently. For instance, gRPC C++ libraries must be installed locally after compiling from source. This repo should still build if you do not have gRPC C++ libs, but the gRPC communication components will not be available.
The Gazebo simulations in this repository expect the (ahg_common)[https://github.com/utexas-bwi/ahg_common] package. You should clone it into your workspace before running Gazebo simulations, e.g.
$ git clone https://github.com/utexas-bwi/ahg_common.git
ROS dependencies are needed to run the ROS packages in this repo. Install them manually or through ROS dep, for example, in the root of your workspace:
$ rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
Clone this repository into a catkinized workspace:
$ git clone --recurse-submodules https://github.com/utexas-bwi/spot.git
note that we do utilize other repositories as submodules, so ensure those have been correctly fetched:
$ cd spot/spot-sdk && ls
While in a virtual environment, install the Spot-SDK by running:
$ pip install spot-sdk/prebuilt/*.whl
See the Spot-SDK Quickstart on setting up a virtual environment with the correct version of Python.
Compile with the standard catkin-tools build system:
$ catkin build spot
$ roslaunch spot_gazebo spot_ahg_nav.launch