1. Clone z1_controller and arm_control repository into the src folder

2. Change the following lines in z1_controller CMakeLists file

set(COMMUNICATION UDP) # UDP set(COMMUNICATION ROS) # ROS

Comment the first line and uncomment the second line

3. Run the following command:

cd src/z1_controller/ mkdir build && cd build cmake ../ && make

4. In the root directory, run catkin_make

source ./devel/setup.bash

5. launch simulation.launch and adjust the Spot pose

6. In another terminal, launch weeding_arm_sim.launch

A Docker image that has all the dependencies for running this simulation_env:

docker pull entao2000/spot_simulation
docker run --name spot_test -it -v `pwd`/rootfs:/root/rootfs -p 5901:5901 -p 6080:6080 -p 8888:8888 entao2000/spot_simulation 

Then, Clone z1_controller and arm_control repository into the src folder, and follow steps from 1 to 6