Spot ROS2 Multi-Workspace

This repository contains multiple ROS2 workspaces for robotics with Boston Dynamics Spot, ZED cameras, RealSense, and Isaac Sim simulation.

Workspace Structure

• Main workspace for Spot ROS2 + RealSense + MoveIt
• Workspace for ZED + Isaac ROS + NVBlox
• Workspace for Isaac Sim + ZED Isaac Sim

Cloning

# Clone with all submodules
git clone --recursive https://github.com/murilo-vinicius04/spot-teleop.git
cd spot-teleop

# Or if you already cloned, initialize the submodules
git submodule update --init --recursive

# Configure Git LFS for isaac_ros_nitros
cd zed_ws/src/isaac_ros_nitros
git lfs install
git lfs pull
cd ../../..

Build with Docker

Prerequisites

• Docker
• Docker Compose
• NVIDIA Docker Runtime (for GPU)

Building Containers

# Build all containers
docker-compose build

# Or build individually
docker-compose build spot-ros2
docker-compose build zed
docker-compose build isaac-sim

Running

Spot ROS2 + RealSense

docker-compose up -d spot-ros2

ZED + NVBlox

docker-compose up -d zed

Isaac Sim

docker-compose up -d isaac-sim

All services

docker-compose up -d

Included Submodules

ZED Workspace

• isaac_ros_nitros - NVIDIA Isaac ROS Nitros
• negotiated - Negotiated QoS
• zed-ros2-wrapper - ZED ROS2 Wrapper
• isaac_ros_nvblox - NVIDIA Isaac ROS NVBlox
• zed-ros2-interfaces - ZED ROS2 Interfaces
• isaac_ros_common - NVIDIA Isaac ROS Common

Spot ROS2 Workspace

• spot_ros2 - Boston Dynamics Spot ROS2
• moveit2 - MoveIt2 Motion Planning
• moveit_msgs - MoveIt2 Messages
• moveit_resources - MoveIt2 Resources
• moveit_task_constructor - MoveIt Task Constructor
• moveit2_tutorials - MoveIt2 Tutorials

Isaac Sim Workspace

• zed-isaac-sim - ZED Isaac Sim Integration

---

Setting Up Spot ROS2 (inside the spot-ros2 container)

1. Source the ROS2 environment:

   source /opt/ros/humble/setup.bash

2. Build the workspace with symlink install:

   colcon build --symlink-install

3. If encountering any errors, update and install dependencies:

   rosdep update
   rosdep install --from-paths src --ignore-src -r -y --rosdistro humble

4. Source the local install:

   source install/setup.bash

5. To plan and execute with MoveIt:

   ros2 launch spot_moveit_config spot_moveit_all.launch.py

6. To run MoveIt Servo:

   ros2 launch spot_moveit_config spot_pose_tracking.launch.py

---

Setting Up Isaac Sim with ZED Integration (inside the isaac-sim container)

1. Navigate to the zed-isaac-sim folder and build:

   cd zed-isaac-sim
   ./build.sh

2. After the build completes, start Isaac Sim:

   cd /isaac-sim
   ./runapp.sh

3. When Isaac Sim opens, go to:

   • Windows -> Extensions -> Third Party -> Settings
   • Add a User Dir pointing to: /workspace/zed-isaac-sim/exts

   (Follow the official ZED Isaac Sim README for reference.)

4. Enable the extensions and set them to Auto Load.

5. Restart Isaac Sim.

6. Open the provided scene:

   • File -> Open
   • Select: /workspace/zed_streamer_warehouse

7. The scene should load and be ready for streaming. Click Play and check the terminal where Isaac Sim was launched. If you see:

   [Streaming] Use Transport layer mode : 0
   

   The container is correctly set up.

---

Setting Up ZED Container and NVBlox Mapping

1. Ensure the ROS2 environment is sourced:

   source /opt/ros/humble/setup.bash

2. Build the workspace with the recommended flags:

   colcon build --merge-install --symlink-install

3. Source the local install:

   source install/setup.bash

4. With Isaac Sim streaming, launch the ZED wrapper:

   ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedx sim_mode:=true use_sim_time:=true

   This will optimize the ZED neural mode for your GPU. It may take several minutes on the first run.

5. To visualize the NVBlox map, run the ZED example:

   ros2 launch nvblox_examples_bringup zed_example.launch.py use_sim_time:=true