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