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Spot Command References

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Kaiyu Zheng edited this page Jul 5, 2022 · 17 revisions

This single Wiki page collects all different things you could do with Spot. Lots come from spot/docs. The hope is you can just look here instead of looking inside the docs.

GraphNav Mapping

This command (1) starts the record map command line interface from Spot SDK examples, (2) saves the map to a conventional location: rbd_spot_perception/maps/bosdyn, and (3) asks if you'd like to visualize the map. To run it:

rosrun rbd_spot_perception /graphnav_mapper.sh <map_name>

GraphNav Localization

The launch file below:

  • publishes the map as point cloud;
  • publishes waypoints;
  • publishes robot state as TF transforms with URDF;
  • starts a graphnav pose streamer for body localization.
roslaunch rbd_spot_perception graphnav_map_publisher_with_localization.launch map_name:=<map_name>

For visualization, run:

roslaunch rbd_spot_perception view_graphnav_point_cloud_with_localization.launch

GraphNav Navigation

rosrun rbd_spot_action graphnav_nav.py [options]

Run -h to see the options. Note that the first time you run this, you need to make sure a GraphNav graph is uploaded to the robot; You do that by specifying the --map-name parameter. For example: rosrun rbd_spot_action graphnav_nav.py [options] --map-name lab121_no_lidar where "lab121_no_lidar" is a map name and a directory of the same name exists under rbd_spot_perception/maps.

There are a few ways to run this script:

  • List waypoints: rosrun rbd_spot_action graphnav_nav.py --list
  • Print robot current pose in seed frame: rosrun rbd_spot_action graphnav_nav.py (no argument)
  • Navigate to waypoint: rosrun rbd_spot_action graphnav_nav.py --waypoint tb --take (Here, --take means to take over the lease for the duration of navigation execution, and tb is a shortcode for a waypoint).
  • Navigate to pose: rosrun rbd_spot_action graphnav_nav.py --pose 0.48 -2.61 1.57 --take (Here, the pose is specified by x y yaw where yaw is in radians)

Note that the pose is in the seed frame, which is the same as the 'graphnav_map' frame. The coordinate system of the seed frame differs in axes directions from Spot's own frame. You can visualize it in RVIZ. For example:

Take a look at the implementation of the above script to see how navigation request is made.

View Map

Once you add the following line to your .bashrc:

alias viewmap='python ~/repo/robotdev/spot/spot-sdk/python/examples/graph_nav_view_map/view_map.py'

You can view a map by

viewmap <path/to/map/directory>

Convenient aliases in .bashrc

alias viewmap='python ~/repo/robotdev/spot/spot-sdk/python/examples/graph_nav_view_map/view_map.py'
alias gnavmap='cd ~/repo/robotdev/spot/spot-sdk/python/examples/graph_nav_command_line'
alias dospot="cd ~/repo/robotdev && source setup_spot.bash"

Object Segmentation (using Mask RCNN)

First, start streaming the segmentation. In this case, we'd like to use the gripper camera

./stream_segmentation.py --camera hand --pub

When it's running, it should publish both the segmentation result image as well as point cloud of detected objects. If you run rosrun rqt_image_view rqt_image_view, you should be able to see something like

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