pip3 install bosdyn-client bosdyn-mission bosdyn-api bosdyn-core
Check-out the usage and user documentation HERE
NOTE: please follow the link above for the complete documentation. You will need to configure the networking on both your computer and the base Spot platform before you can run the driver.
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-ros-base
sudo apt update
sudo apt install -y python3-pip
pip3 install cython
pip3 install bosdyn-client bosdyn-mission bosdyn-api bosdyn-core
pip3 install empyPlease note that the Spot SDK uses Python3, which is not officially supported by ROS Melodic. If you encounter an error of this form:
Traceback (most recent call last):
File "/home/administrator/catkin_ws/src/spot_ros/spot_driver/scripts/spot_ros", line 3, in <module>
from spot_driver.spot_ros import SpotROS
File "/home/administrator/catkin_ws/src/spot_ros/spot_driver/src/spot_driver/spot_ros.py", line 19, in <module>
import tf2_ros
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 38, in <module>
from tf2_py import *
File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/__init__.py", line 38, in <module>
from ._tf2 import *
ImportError: dynamic module does not define module export function (PyInit__tf2)when launching the driver, please follow these steps:
-
rm -rf devel/ build/ install/-- this will remove any old build artifacts from your workspace -
git clone https://github.com/ros/geometry2 --branch 0.6.5into yoursrcfolder -
rebuild your workspace with
catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so-
re-run
source devel/setup.bash -
start the driver with
roslaunch spot_driver driver.launch