just copy the spidy package into your work space
don't forget to catkin_make your work space after
at first launch the robot in gazebo using the following command
roslaunch spidy launch_gaz.launch
in a new terminal run the controller using the following command
roslaunch spidy rrbot_control.launch
after that you can write commands to move joints manually or use a python script
go to the directory spidy/py_messages then run the python script there
python simple_pub.py
here is the video showing the steps and robot movment
https://www.youtube.com/watch?v=l6ctoMqnkRE&feature=youtu.be
after aproving the new request just type
roslaunch spidy all_launch.launch
here is the video showing the launch after adding the camera
https://youtu.be/r3qwlFgRL_4