Spot ROS User Documentation

Contents

• Robot Configuration
  • Networking
• Computer Setup
  • Building the Driver from Source
  • Adding to the URDF
  • Building for Melodic
• Driver configuration
  • Rate parameters
  • Startup parameters
  • Environment variables
• Basic Driver Usage
  • Verify the URDF
  • Configure your networking
  • Running the driver
  • View the robot
  • Taking control of the robot
    • Holding the lease
    • Emergency stops
    • Enable motor power
    • Stand the robot up
  • Controlling the velocity
    • Topic
  • Controlling the body
    • Static body pose
      • Service
      • Actionserver
      • Rviz
    • In-motion body pose
      • Topic
      • Actionserver
  • Moving to a pose
    • ROS Topic
    • Actionserver
    • Rviz
  • Setting velocity limits
  • Cameras and Depth Clouds
  • Self righting and roll over
  • Autonomous docking
    • Services
    • Actionserver
    • Rviz
  • Advanced motion control
  • Monitoring
  • Troubleshooting
• Arm Control
  • Arm Carry, Stow, Unstow
  • Pick Service (Grasp 3D)
• Spot EAP Usage
  • Hardware Setup
  • Accessing the Point Cloud data
  • Directly accessing the raw data
• GraphNav Service
  • ROS Services and Actions
  • Usage
  • Demonstration
• Spot CAM
  • Basics
  • Screens
    • Stream control
  • PTZs
    • Looking at a point
  • IR Camera
  • Audio
  • LEDs
  • Power control
  • Other topics
• Docker Deployment
  • Deployment Steps
  • Portainer