Conq ROS2

A ROS 2 package for our Boston Dynamics' Spot, also known as Conq. This package includes all required topics, services, and actions to teleoperate or navigate Spot, and is compatible with spot-sdk version 4.0.2.

🚀 Overview

• ROS 2 driver for Spot robot (Conq)

• Compatible with Spot SDK 4.0.2

• Full control: walking, arm, camera, docking, and more

🛠️ Prerequisites

Tested on:

• Ubuntu: 22.04.4

• Python: 3.12.4

• Conda: 24.5.0

• ROS 2: Humble

Follow this guide to install ROS 2.

📦 Installation

1. Clone the repository

2. Install dependencies

3. Build workspace

⚠️ Ignore proto2ros_tests if not needed to avoid error messages.

🤖 Launching Spot Driver

🧩 Configuration

You can set login credentials:

• Using ROS parameters in a YAML (see spot_driver/config/spot_ros_example.yaml)

• Or via environment variables:

🔧 Simple Robot Commands

Use these ROS 2 service calls to control Conq:

🦾 Arm Commands (if equipped)

Use ros2 topic list, ros2 service list, and ros2 action list to explore all interfaces.

📸 Perception & Images

Default Setup

• Streams RGB + depth from:

  • frontleft, frontright, left, right, back (and hand if equipped)

• Uncompressed images by default

• Launch spot_image_publishers.launch.py independently to stream only images

Configuration Options

• Limit cameras:

  yamlCopyEditcameras_used: ["frontleft", "frontright"]

• Disable RGB mode for greyscale cameras:

• Enable point clouds:

• Enable stitched images (tablet-like view):

  Add these to your YAML:

🧠 Performance Tips

• Use Ethernet for faster image publishing

• Set custom DDS profile:

  bashCopyEditexport FASTRTPS_DEFAULT_PROFILES_FILE=<path>

📷 Spot CAM (Optional)

Spot CAM is disabled by default due to HTTPS SSL issues.

To enable:

If errors occur:

1. Open this in a browser:
   https://<spot_ip>:31102/h264.sdp.html

2. Log in → WebRTC should begin streaming

🧩 Advanced Install Options

Install spot_msgs as a .deb package:

Install bosdyn_msgs from source

Can be built manually (takes ~15 min) if needed.

✅ Verify Installations

All versions should be 4.0.2.

📥 Contributing

1. Clone:

2. Install pre-commit:

3. To commit without pre-check:

👥 Original Contributors

MASKOR (FH Aachen)

• Maximillian Kirsch

• Shubham Pawar

• Christoph Gollok

• Stefan Schiffer

• Alexander Ferrein

Boston Dynamics AI Institute

• Jenny Barry

• Daniel Gonzalez

• Tao Pang

• David Surovik

• Jiuguang Wang

• David Watkins

Linköping University

• Tommy Persson

📝 License

• MIT License — for ROS 2 specific code

• BSD 3-Clause — for Clearpath-derived components