https://github.com/spesrobotics/spes_autonomy
Spes Robotics autonomy stack
https://github.com/spesrobotics/spes_autonomy
docker navigation ros2 simulation
Last synced: about 2 months ago
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Spes Robotics autonomy stack
- Host: GitHub
- URL: https://github.com/spesrobotics/spes_autonomy
- Owner: SpesRobotics
- License: agpl-3.0
- Created: 2022-08-22T20:30:53.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2024-09-27T15:49:20.000Z (9 months ago)
- Last Synced: 2025-05-04T20:16:36.748Z (2 months ago)
- Topics: docker, navigation, ros2, simulation
- Language: Python
- Homepage: https://spes.ai
- Size: 58.7 MB
- Stars: 2
- Watchers: 1
- Forks: 4
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Spes Autonomy
Spes Robotics autonomy packages, software infrastructure, and hardware platform.
## Installation
You can install as a typical ROS workspace, but we highly recommend using Docker:
```bash
# Install Docker (and other dependencies)
sudo apt install git make curl
curl https://get.docker.com | sh && sudo systemctl --now enable docker
# Clone the repo
git clone https://github.com/SpesRobotics/spes_autonomy.git $HOME/spes_autonomy
# Build and run the Docker image (only once)
make -f $HOME/spes_autonomy/docker/Makefile build-pc run
# Attach to a terminal
make -f $HOME/spes_autonomy/docker/Makefile exec
```
## Examples
Visual servoing with latency compensation:
```bash
ros2 launch spes_tests test_move_latency_compensation_launch.py
```
SLAM & Navigation:
```bash
# Create a map
ros2 launch nav2_bringup slam_launch.py
rviz2
# Save the map
ros2 run nav2_map_server map_saver_cli -f /spesbot/assets/map
# Navigate
ros2 launch nav2_bringup bringup_launch.py map:=/spesbot/assets/map.yaml
ros2 launch nav2_bringup rviz_launch.py
```