Configuring the ROS Driver

There are some basic settings that can be configured to control how the driver runs and at what rate it obtains data. Data that is more important for your applicaiton can be obtained at a higher rate.

The default configuration file is located at spot_driver/config/spot_ros.yaml

Parameter

Description

rates/robot_state

The rate in Hz to obtain the robot’s state (include joint angles)

rates/metrics

The rate in Hz to obtain the robot’s metrics

rates/lease

The rate in Hz to obtain the robot’s lease state

rates/front_image

The rate in Hz to obtain the image and depth image from the front camera

rates/side_image

The rate in Hz to obtain the image and depth image from the side cameras

rates/rear_image

The rate in Hz to obtain the image and depth image from the rear camera

auto_claim

A boolean to automatically claim the body and e stop when the driver connects

auto_power_on

A boolean to automatically power on the robot’s motors when the driver connects

auto_stand

A boolean to automatically stand the robot after the driver conneccts

Warning

Having the robot power its motors and stand after the driver connects is a physical action and has inherent danger. Make sure to use these settings with cuation and ensure the area is clear before starting the driver