sulibo / spotmicro

Codes for simulation of SpotMicro (a quadruped robot based on Boston Dynamics SpotMini) in ROS and Gazebo.

Introduction

This is the repository for simulation code of SpotMicroAI project in ROS.

The SpotMicroAI project is designed to be a low cost, easily built quadruped robot. The design is roughly based off of Boston Dynamics quadruped robot SpotMini, though with obvious adaptations such as size and sensor suite.

For the details of SpotMicroAI, please refer to the project documentation at: https://spotmicroai.readthedocs.io/en/latest/.

Robot design

The brain of this project is designed to be powered by a Raspberry Pi 4. The Pi is connected to a PCA9685 controller board which allows communication to the 12 servos required to articulate the hips and legs. Sensors include a raspberry pi camera, MPU6050 Gyro accelerometer combination, and several ultrasound sensors. Some users have also integrated a RPiLIDAR A1 into their build.

The structure of the robot is organised as below:

Usage

Clone the codes

git clone https://github.com/sulibo/spotmicro.git

Build the ROS packages

cd spotmicro
catkin build
source ./devel/setup.bash

Display SpotMicro in Gazebo and Rviz

roslaunch spotmicro_description spotmicro_display.launch

The SpotMicro will be spawned and displayed in Gazebo and Rviz.

References

This repository is built based on Florian Wilk and Joel Martinez's simulation repositories which can be found at here