spot_ros

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Add buttons in the rviz panel to make use of new services

1

Recent merges have added quite a few services to the driver, which should be exposed in the rviz panel. - [x] Roll over commands - [ ] Arm commands -...

heuristicus

Adding ROS service for PickObject Proto

mfheinemann

[WIP]Support publishing Velodyne VLP16 Lidar pointcloud on Spot EAP

5

This PR is for publishing point cloud from Velodyne VLP16 on Spot EAP . I confirmed this node publishes the topic about 8Hz, but there is a delay. Using pyinstrument,...

mqcmd196

Velocity Commands behave weird on newest Spot SDK

1

I observed that the /spot/cmd_vel topic behaves super weird on the newest spot sdk. Spot would start to move slightly, stop, continue etc. Increasing the command duration from the current...

EricVoll

Odometry twist is erroneously reported in odom frame

2

According to [`Odometry` message docs](http://docs.ros.org/en/api/nav_msgs/html/msg/Odometry.html), twist should be expressed in the child frame, which is `body`. According to [Bodsdyn API docs](https://dev.bostondynamics.com/protos/bosdyn/api/proto_reference#kinematicstate), `velocity_of_body_in_odom` is expressed in odom frame. Thus the twist...

peci1

TF odom/vision to map lagging

4

I'm trying to get Spot (and the Velodyne Lidar) to give me a consistent map for navigation, but I always seem to get lag that causes ghosting and blurring when...

dberrett

Release to ROS repositories

1

Would be nice to be able to apt-install this.

heuristicus

heuristicus

Recent merges add a lot of code which can make the robot move in various ways, and more changes are incoming. The allow motion (and autonomy) flag should be checked...

heuristicus

I was able to spend some time with the most basic version of the spot cam and developed this interface to it. I am hoping to get access to spot...

heuristicus