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microsoft / spot-ros-wrapper

ROS Wrapper for the Boston Dynamics Spot robot
MIT License
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[Feature] Simulation support #18

Closed AustinDeric closed 3 years ago

AustinDeric commented 4 years ago

It should be possible to operate Spot in a simulator such as gazebo or Airsim

amjack0 commented 3 years ago

any Updates on this?

jeffdelmerico commented 3 years ago

Unfortunately, even the "officially supported" wrapper from Clearpath does not have any simulation capabilities. As far as I'm aware, Boston Dynamics is not planning to release something like that in the future. While it may be possible to implement an approximation to the robot within Gazebo, it would not include the full dynamic model that BD has access to, or any of the perception, planning, and control algorithms that I assume are proprietary, so it's unclear how useful such a "homebrew" model would be.