Design of an API for Simulated Spot Robot
Vývoj API pro robota Spot v simulátoru
Authors
Supervisors
Reviewers
Editors
Other contributors
Journal Title
Journal ISSN
Volume Title
Publisher
České vysoké učení technické v Praze
Czech Technical University in Prague
Czech Technical University in Prague
Date
Abstract
Tato bakalářská práce se zaměřuje na návrh a implementaci API pro ovládání robota Spot v simulátoru Gazebo, včetně podpory pro ovládání integrovaného manipulátoru. V současné době již existuje API pro reálného robota Spot, API umožňuje ovládat robota pomocí joysticku, tabletu a API rozhraní propojené s ROSem spot_ros, avšak pro simulovaného robota není implementováno. Cílem této práce je vytvořit API pro simulovaného robota Spot tak, aby se tyto programátorská rozhraní co nejméně lišila. V práci se postupně zaměříme na stručný teoretický úvod využitých nástrojů s kterými při tvorbě API a ovládání manipulátorů pracujeme, poté zmíníme využité zdroje, na které práce navazuje a vychází z nich. Dále si ukážeme, jak jsme propojili manipulátor s MoveItem, následně jsou popsány všechny možnosti ovládání jak manipulátoru, tak robota Spot. Srovnáme API reálného a simulovaného robota a nakonec porovnáme i similuvaného a reálného Spota.
This bachelor thesis focuses on the design and implementation Application Programming Interface (API) for controlling the robot Spot in Gazebo simulator, including support for controlling the integrated manipulator. The API for real robot Spot, developed by Boston Dynamics, allows controlling Spot with a joystick, tablet or via an API connected with ROS from spot_ros. However, an API for the simulated Spot is not yet implemented. The main goal of this bachelor thesis is to create an API for the simulated robot that is as similar as possible to the API for the real robot. This thesis begins with a brief theoretical introduction to the tools and resources used for creating API and controlling Spot's manipulator. It will then discuss existing resources that served as a foundation for this work. Following this, the thesis describes how the manipulator is integrated with MoveIt and details the methods for controlling manipulator and Spot. Next, it compares the APIs of the simulated and real robots. Finally, the thesis concludes with a comparison between the real and the simulated Spot.
This bachelor thesis focuses on the design and implementation Application Programming Interface (API) for controlling the robot Spot in Gazebo simulator, including support for controlling the integrated manipulator. The API for real robot Spot, developed by Boston Dynamics, allows controlling Spot with a joystick, tablet or via an API connected with ROS from spot_ros. However, an API for the simulated Spot is not yet implemented. The main goal of this bachelor thesis is to create an API for the simulated robot that is as similar as possible to the API for the real robot. This thesis begins with a brief theoretical introduction to the tools and resources used for creating API and controlling Spot's manipulator. It will then discuss existing resources that served as a foundation for this work. Following this, the thesis describes how the manipulator is integrated with MoveIt and details the methods for controlling manipulator and Spot. Next, it compares the APIs of the simulated and real robots. Finally, the thesis concludes with a comparison between the real and the simulated Spot.