narcissuszmy / notspot_sim_cpp

This repository contains all the code and files needed to simulate the notspot quadrupedal robot using Gazebo and ROS.

Notspot robot simulation - C++ version

This repository contains all the files and code needed to simulate the notspot quadrupedal robot using Gazebo and ROS. The software runs on ROS noetic and Ubuntu 20.04. If you want to use a different ROS version, you might have to do some changes to the source code. The robot is capable of walking, I have a bunch of videos on my YouTube channel.

If you are interested in the Python version, make sure to check this repository out.

Setup

cd src && catkin_init_workspace
cd .. && catkin build

Run

source devel/setup.bash
roslaunch notspot run_robot_gazebo.launch

After all the nodes have started, you can start using your joystick to control the robot.

Controllers

There's four different controllers, which make it easy to control the robot. These 4 controllers are: Rest controller, Stand Controller, Trot gait controller and Crawl gait controller. They were all developed in Gazebo.

Rest Controller

Stand Controller

Trot Gait Controller

Crawl Gait Controller

Other notes

This is my first open-source project, so I'm not that experienced with github just yet.

I'll be adding new stuff to this repository over time, so this is not the final version. I'd like to make all the 3D models open-source, so that anybody can build this robot at home.

Credits

• mike4192: https://github.com/mike4192/spotMicro