From 7211da8d4c6361d1c67f8b1298ff73f915e0c564 Mon Sep 17 00:00:00 2001 From: diyaagarwal21 Date: Tue, 10 Sep 2024 19:22:42 -0400 Subject: [PATCH 1/2] added spot_ros2_ign submodule --- .gitmodules | 4 ++++ spot_ros2_ign | 1 + 2 files changed, 5 insertions(+) create mode 100644 .gitmodules create mode 160000 spot_ros2_ign diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 00000000..34234a53 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,4 @@ +[submodule "spot_ros2_ign"] + path = spot_ros2_ign + url = https://github.com/diyaagarwal21/spot_ros2_ign.git + branch = SpaceROS-Challenge diff --git a/spot_ros2_ign b/spot_ros2_ign new file mode 160000 index 00000000..ceab650d --- /dev/null +++ b/spot_ros2_ign @@ -0,0 +1 @@ +Subproject commit ceab650d87f7cf2e2ef7614f446cd09a975b0eda From 1deb0dd3ed1c80b0e381f9b6ac71f6b9b1c19c04 Mon Sep 17 00:00:00 2001 From: diyaagarwal21 Date: Tue, 10 Sep 2024 19:26:19 -0400 Subject: [PATCH 2/2] readme edited --- README.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/README.md b/README.md index 47e3bd4b..e3c649ae 100644 --- a/README.md +++ b/README.md @@ -11,3 +11,8 @@ Submissions to this repo should include: - - See example here: https://github.com/space-ros/docker/blob/main/space_robots/run.sh Please refer to the [dockerfile repo](https://github.com/space-ros/docker/tree/main/space_robots) for instructions on running the existing demos + +______________________________ + +## Changes made to Repository +See ReadME in `spot_ros2_ign` package. The `spot_ros2_ign` submodule was added, an adaption of champ quadruped robot to ROS2 and Ignition Gazebo. Previously, the Boston Dynamics Spot robot was only simulated using ROS2 with Gazebo Classic, which goes end-of-life in January 2025. This package, modified from quadruped_ros2, simulates the Spot robot in Ignition Gazebo, a newer version of Gazebo. This combination of simulating the Spot robot with ROS2 and Ignition Gazebo on an open-source platform has not been done yet. This package also publishes an Rviz panel where the robot is visible and able to be controlled with its joints.