yezhicheng99 / spot_manipulator

Boston dynamics spot robot with open manipulator

Boston dynamics spot robot with open manipulator

Simulation

Tested on:

• Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone https://github.com/yezhicheng99/spot_manipulator.git
git clone https://github.com/yezhicheng99/spot_manipulator_gui.git
git clone -b gazebo https://github.com/chvmp/spot_ros.git
git clone --recursive https://github.com/chvmp/champ
git clone https://github.com/chvmp/champ_teleop
cd ..
rosdep install --from-paths src --ignore-src -r -y

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws/>/devel/setup.bash

2. Quick Start

2.1 Start gazebo simulation:

roslaunch spot_manipulator gazebo.launch

2.2 Control open manipulator:

roslaunch spot_manipulator move_group.launch
roslaunch spot_manipulator_gui spot_manipulator_gui.launch

2.3 Run the teleop node:

roslaunch champ_teleop teleop.launch