spot_tools_core

spot_tools_core package

This package contains RosNodes which help users to work with Spot and Azure Spatial Anchors. The current list of Ros Nodes is:

Ros Node Name	Description	Ros-Launch file
AsaAnchorRotatorNode	Listens to ASA Found Anchor events and rotates the tf-frames. This is required for ASA anchors that are created in Unity (for example on HoloLens2) because Unity uses a y-up system. With these rotations, the anchor can be used as a z-up frame	RosNode of type asa_anchor_rotator_node.py
CommandRepublisher	Listens to trajectory commands sent relative to an ASA anchor and republishes them relative to Spot's base coordinate frame	cmd_republisher.launch
CommandExecuter	Listens to trajectory commands relative to spot's body frame and calls the spot_driver's trajectory service to execute the command	cmd_executer.launch
AsaOdomtry	Listens to spot's odometry topic and republishes it relative to the closes ASA anchor	odom_republisher.launch

Launch files

The launch file viscon.launch is an example of a launch file launching all required nodes for spot to be commanded relative to an ASA node.

ROS TCP Endpoint

To communicate with Unity you will also have to install the ros-tcp-endpoint package. Simply clone the repository into the catkin_ws/src folder and build it. The spot_tools_core package does not have the ros-tcp-endpoint as a dependency, because none of the features depend on it, even though many of them only make sense in combination with it.

The viscon.launch launchfile already supports launching this node if wanted. It can be activated/deactivated using the launch_tcp_node argument.

The IP address of the launched tcp endpoint can be configued by editing the /spot_tools_core/config/ros_tcp_endpoint_params.yaml file.