Overview

This repository integrates MoveIt 2 the Boston Dynamics Spot Quadruped robot.

Requirements

This repository is supported for use with Ubuntu 22.04 and ROS 2 Humble on both ARM64 and AMD64 platforms.

Installation

Set up your ROS 2 workspace, and clone the repository in the src directory:

mkdir <ROS workspace> && cd <ROS workspace>
git clone https://github.com/bryceikeda/spot_moveit_ros2.git src

Next, run the following script to install the necessary Boston Dynamics packages (both Python and C++) and ROS dependencies. The install script takes the optional argument --arm64; it otherwise defaults to an AMD64 install.

./install_spot_ros2.sh
or
./install_spot_ros2.sh --arm64
source install/setup.bash

Packages

• spot_core: Core wrapper for interfacing between MoveIt 2 and the spot_ros2 package.
• demo: Examples of how to control Spot via MoveIt.
• spot_moveit_config: The Spot MoveIt configuration files.
• spot_behavior_tree: Control the spot robot via MoveIt and a behavior tree

Running these packages

See demo for examples of how to control Spot via MoveIt. See spot_behavior_tree if you would like to control the robot using a behavior tree.

Acknowledgments

This repository was adapted from the ROS1 spot_skills package written by Benned Hedegaard.