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spot_autonomy

UT Spot Autonomy Stack

Dependencies

  1. ROS
  2. System dependencies 
    sudo apt install qt5-default libqt5websockets5-dev libgoogle-glog-dev libgflags-dev
  3. AMRL Fork of Clearpath Spot ROS Interface, forked from https://github.com/clearpathrobotics/spot_ros

Build

  1. Clone and add repo paths to ROS_PACKAGE_PATH
    1. amrl_msgs
    2. spot_autonomy
  2. Run make
  3. Add commands to do step 1. to bashrc (otherwise need to repeat this step for launching spot_autonomy in every new shell session).

External Hardware

Usage

  1. Initial Setup Only: Replicate launch/start_clearpath_spot.launch.example to launch/start_clearpath_spot.launch, filling in your Spot robot username, password, and IP address.
  2. [Optional, if running under docker]: 
    cd /home/amrl-user/ros-docker
docker-compose up
    Open an interactive shell to the docker instance (run any ros/spot modules here): 
    docker exec -it ros-docker_app_1 bash
  3. roslaunch spot_autonomy start_all.launch

Joystick

Spektrum DXS SPMR1010

Spektrum DXS SPMR1010

  • D Switch: Manual and Autonomous Control
    • "0" (away): Autonomous Control
    • "1" (neutral): Stop Robot
    • "2" (back): Manual Control
  • A Button: Start/Stop rosbag record

While in Manual Control:

  • Left Joystick: Yaw Control
  • Right Joystick: Translation Control
  • B Switch: Sit and Stand
    • "0" (down): Sit
    • "1" (neutral): Resume Manual Control
    • "2" (up): Stand
  • F Switch: Speed Control
    • "0" (away): Full Speed
    • "1" (back): ~70% Speed (we cannot customize this)

In addition to the "F" switch, the controller has a set of four "Trim" sliders that change the zero point of the joysticks (and thus their maximum and minimum values). These sliders emit audible chirps. A higher-pitched chirp is emitted when the neutral zero point is set.

PS4 Dualshock Controller

PS4 Dualshock Controller

  • Left bumper: Press and hold for manual control
  • Right bumper: Press to enable autonomous mode, press any other button to go out of autonomous mode
  • Left joystick + LB: Yaw control
  • Right joystick + LB: Translation control
  • X button + LB: Stand up
  • Square button + LB: Sit down
  • Triangle button + LB: Start rosbag record
  • Circle button + LB: Stop rosbag record

The rosbag record command is defined in config/joystick.lua.