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Holo-Spot ROS workspace

Different from other files of this repo, this ROS package needs to be installed in the onboarded computer of the Boston Dynamics Spot robots.

Tested Environment

Ubuntu 20.04 & ROS Noetic

Dependency

Microsoft Azure Spatial Anchor

  • Azure Spatial Anchors (for co-localization): Tutorial

  • Azure Spatial Anchors Linux SDK (for spot): Github Repo. This one has a ton of information in the wiki.

  • You have to sign up here: Microsoft Forms to get access to the sdk binaries. That might take 1-2 days.

Install & Usage

First need to complie this ROS package,

cd ROS_ws
catkin_make

For every opened terminal, cd into this ROS_ws.

source devel/setup.bash

Fill in the login information of Spot robot in the launch file and the driver-only launch file. Replace YOUR_SPOT_USERNAME, YOUR_SPOT_PASSWORD, and YOUR_SPOT_HOSTNAME with your login information.

Fill in the login information of Microsoft Azure in the Spatial Anchor launch file. Replace YOUR_ACCOUNT_ID, YOUR_ACCOUNT_KEY, and YOUR_ACCOUNT_DOMAIN with your login information.

To run this driver,

roslaunch unity_robotics_demo robo_demo.launch

To ensure the safety, open another terminal and source the package. Once the robot is under unsafety situation, run

rosservice call /spot/estop/gentle

Note

  • Once the robot recognizes the spatial anchor created by Hololens, there will be a transformation matrix of the anchor printed in the terminal.

  • The robot might need to walk around to find the created anchor.