Spot Navigation & RL Controller – Quick Start Guide

This guide explains how to launch the RL locomotion controller and Nav2 navigation stack for the Spot robot inside Isaac Sim.

nav.mp4

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✅ 1. Start Isaac Sim & Load the Environment

1. Open Isaac Sim.
2. Load the scene file:

spot_space_data.usd

3. Press Play ▶️ to start the simulation.

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✅ 2. Launch the RL-Based Locomotion Controller

Open a new terminal (keep it separate from other terminals):

ros2 launch spot_isaac_driver spot_controller.launch.py

This starts the RL policy controller that drives Spot’s legs and publishes /cmd_vel-compatible motion.

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✅ 3. Launch the Navigation Stack (Nav2)

Open another separate terminal:

ros2 launch spot_nav spot_nav.launch.py

This brings up:

• AMCL localization
• Nav2 planners
• Costmaps
• MPPI controller
• TF tree
• RViz2 configuration (if included)

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4. Rviz (visualization)

rviz2 

Note: you can also use predefine config file in spot_nav package

Important Step Before Sending Goals

Before issuing any navigation goal:

👉 Move the robot a little using either keyboard or joystick.

This “wakes up” the system by making sure:

• /cmd_vel is active
• MPPI controller is initialized
• TF tree stabilizes
• Odometry starts flowing

If you skip this, Nav2 may think the robot is stationary or not ready.

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4. Send Navigation Goal (RViz2)

Once the robot is moving:

1. Open RViz2 (if not auto-opened).
2. Select 2D Goal Pose.
3. Click a destination on the map.

Spot will:

• Compute a path
• Follow it using MPPI
• Avoid obstacles
• Replan if needed

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