From 379b63139cd299af0f3c97f632b63f36550a5bd5 Mon Sep 17 00:00:00 2001 From: Maximilllian Kirsch Date: Wed, 21 Dec 2022 17:31:54 +0100 Subject: [PATCH] Removed issues, changed overview and added example command to execute trajectory action and added links and names to contributors --- README.md | 29 +++++++++++++++-------------- 1 file changed, 15 insertions(+), 14 deletions(-) diff --git a/README.md b/README.md index 22164c6c5..2b08195d6 100644 --- a/README.md +++ b/README.md @@ -15,18 +15,8 @@

# Overview -This is a ROS 2 implementation of the [ROS1 driver](https://github.com/clearpathrobotics/spot_ros) from Clearpath Robotics. - -All ROS services are ported, but only the services: claim, power_on, stand and sit were tested. - -The `/cmd_vel` topic also works and you can send commands to the spot via e.g. rqt_publisher. - -This project is still a WIP. - -## Issues -The ros actions have not yet been ported. The RobotModel is not visible in rviz so far. -DepthCloud is not visible in rviz2 either, because DepthCloud has not been ported for rviz2 yet. -The `spot_viz` package is also missing. +This is a ROS2 package for BostonDynamics' Spot. The package contains all necessary topics, services and actions to teleoperate or navigate Spot. +This package is derived of this [ROS1 package](https://github.com/heuristicus/spot_ros). ## Prerequisites - Tested for Ubuntu 20.04 + Foxy @@ -56,6 +46,11 @@ The spot login data hostname, username and password must be specified in the `co ### Depth image to Pointcloud2 ros2 launch spot_driver point_cloud_xyz.launch.py +### Example Node +The `command_spot_driver` node contains service and action clients. To send a trajectory goal execute: + + ros2 run spot_driver command_spot --ros-args -p command:=trajectory + ## License MIT license - parts of the code developed specifically for ROS2. @@ -63,12 +58,14 @@ BSD3 license - parts of the code derived from the Clearpath Robotics ROS1 driver ## Contributors -This project is a collaboration between the Mobile Autonomous Systems & Cognitive Robotics Institute (MASKOR) at FH Aachen and the Boston Dynamics AI Institute. +This project is a collaboration between the [Mobile Autonomous Systems & Cognitive Robotics Institute](https://maskor.fh-aachen.de/en/) (MASKOR) at [FH Aachen](https://www.fh-aachen.de/en/) and the [Boston Dynamics AI Institute](https://theaiinstitute.com/). MASKOR contributors: * Maximillian Kirsch -* Simon Roder +* Shubham Pawar +* Christoph Gollok +* Stefan Schiffer * Alexander Ferrein Boston Dynamics AI Institute contributors: @@ -77,3 +74,7 @@ Boston Dynamics AI Institute contributors: * Daniel Gonzalez * David Surovik * Jiuguang Wang + +[Linköping University](https://liu.se/en/organisation/liu/ida) contributors: + +* Tommy Persson