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 2023b https://github.com/cyberbotics/webots/releases/tag/R2023b

Install

1. Make sure that colcon, its extensions, and vcs are installed:

   sudo apt install python3-colcon-common-extensions python3-vcstool
   

   Also, rosdep is installed https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html#rosdep-installation.

2. Create a new ROS2 workspace:

   export COLCON_WS=~/ros2_ws
   mkdir -p $COLCON_WS/src
   

3. 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
   

4. 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