commit on 8/10/2024. lunar surface appearing with spot robot.

[diyaagarwal21]

🎉 New feature: Simulating the Boston Dynamics Spot robot in ROS2/Gazebo Ignition on a Lunar Surface

Summary

Using the provided template, the Boston Dynamics Spot robot was simulated on a lunar surface (the Apollo landing site) in Gazebo Ignition (which has previously not been implemented in this setup yet).

Included Packages and Modifications

• ros_gz_example_description - holds the sdf description of the Spot robot and its meshes/assets.
• ros_gz_example_gazebo - holds gazebo specific code and configurations. This is where the world environment sdf files are located.
• ros_gz_example_application - holds ros2 specific code and configurations.
• ros_gz_example_bringup - holds launch files and high level utilities (unchanged from existing template).

Install and Test

1. Download the package from github (as instructed in the fortress branch), open your workspace (my_ws), and build your workspace (steps 1-3 on the ReadMe of the installation). Make sure to download the Fortress version of the package.

export GZ_VERSION=fortress

2. Remember to source ROS and your workspace:

source /opt/ros/humble/setup.bash
source ~/my_ws/install/setup.bash

3. Run the launch configuration file:

ros2 launch ros_gz_example_bringup diff_drive.launch.py

4. See the Spot robot on a lunar surface!

Future Implementations

This package is an example of how to spawn a complex quadruped in Gazebo Fortress using ROS2 and how to change the .sdf world file. Using this template, others can learn how to spawn their own complex robots using this open-sourced template.

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This work was done by Diya Agarwal, and undergraduate student at Caltech, at Florida International University's Applied Research Center under Dr. Dwayne McDaniel.

[quarkytale]

Thanks for the contribution @diyaagarwal21! Do you mind populating the fields of the issue template, at the minimum, add a description to your feature and steps to test it.

[diyaagarwal21]

Hello, Thank you for considering my contribution! I just populated the issue template with my contribution description and the steps to test it.

…

On Thu, Sep 5, 2024 at 1:01 PM Dharini Dutia ***@***.***> wrote: Thanks for the contribution @diyaagarwal21 <https://github.com/diyaagarwal21>! Do you mind populating the fields of the issue template, at the minimum, add a description to your feature and steps to test it. — Reply to this email directly, view it on GitHub <#30 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AUBSRM763IJDJ3YXQXFKAJDZVCE6FAVCNFSM6AAAAABMJYWHCSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDGMZSGIZDONZTGI> . You are receiving this because you were mentioned.Message ID: ***@***.***>