Spot MuJoCo ROS2

Introduction

This package is developed with ROS2 based on spot-sdk. The original urdf has no inertia and mass information, so we generate this information based on its geometric shape.

The files include:

1. The XML file (description/model/xml/spot_mini/spot_mini.xml) of Spot Mini for the simulation in MuJoCo.
2. A class named MuJoCoMessageHandler is also provided, which publishes the robot joint state and imu message. The odom message is just the real pose of the robot in simulation. More details can be found in the cpp file src/simulation/mujoco/src/MuJoCoMessageHandler.cpp.
3. ROS2 (version) is needed to run this package.

Installation

# Create your own workspace
cd ~/ & mkdir -p your_workspace/src

# Clone this package to your_workspace/src
cd ~/your_workspace/src & git clone https://github.com/MindSpaceInc/Spot-MuJoCo-ROS2.git

# Build (DO NOT remove `--symlink-install`)
colcon build --symlink-install 

# Setup env
source ../install/setup.bash

# Run simulation 
ros2 launch mujoco simulation_launch.py

Now your can open a new terminal and use command ros2 topic list to see the below topics

/parameter_events
/rosout
/simulation/actuators_cmds
/simulation/imu_data
/simulation/joint_states
/simulation/odom