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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 |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| webots_spot | 0.0.0 |
README
Webots ROS2 Spot
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.
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
- 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
- Create a new ROS2 workspace:
export COLCON_WS=~/ros2_ws
mkdir -p $COLCON_WS/src
- 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
- 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)
CONTRIBUTING
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