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Spot Manipulation Interface

Overview

spot_manipulation_interface is a ROS 2 package that enables grasping functionality for Boston Dynamics Spot robots equipped with an arm. The package provides a ROS 2 action server that receives bounding box coordinates of detected objects and commands Spot's arm to grasp at the calculated location.

The package supports dynamic camera configurations, processes image-based grasp requests, and integrates directly with Spot's SDK for arm manipulation.

Features

  • ROS 2 Action Server for object grasping.
  • Accepts bounding box input [xmin, ymin, xmax, ymax].
  • Parameterized Spot credentials via ROS parameters.
  • Dynamic grasp calculation based on bounding box center.
  • Integrated with Spot's grasping API.

Requirements

  • ROS 2 Humble.
  • Boston Dynamics Spot SDK.
  • Python 3.8+
  • Spot robot with an arm.

Installation

Clone the package into your ROS 2 workspace:

cd ~/ros2_ws/src
git clone <your-repo-url> ros2_spot_manipulation
cd ~/ros2_ws
colcon build --packages-select spot_manipulation_interface
source install/setup.bash

Usage

1. Launch the Grasp Action Server:

ros2 launch spot_manipulation_interface grasp_action_server.launch.py param_file:=/path/to/your/robot.yaml

The param_file should contain Spot's login credentials and connection parameters.

2. Send a Grasp Goal:

ros2 action send_goal /timon/grasp_object spot_manipulation_interface/action/Grasp \
"{x_min: 150, y_min: 580, x_max: 550, y_max: 780, camera_name: 'frontleft'}"

Parameters

Parameter Type Description
username String Spot login username
password String Spot login password
hostname String Spot IP address (e.g., 192.168.50.3)

Action Interface

Grasp.action

# Goal
int32 x_min
int32 y_min
int32 x_max
int32 y_max
string camera_name

# Result
bool success
string message

# Feedback
string current_state

License

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at:

http://www.apache.org/licenses/LICENSE-2.0