From 5c05a576e19983c284b6db4de628c69b67361556 Mon Sep 17 00:00:00 2001 From: Laura Lee <129791566+llee-bdai@users.noreply.github.com> Date: Wed, 16 Oct 2024 16:54:27 -0400 Subject: [PATCH] [MAPLE-743] Add hand posing non blocking option (#510) ## Change Overview In order to get smooth streaming of hand poses, this adds in a non blocking flag to the hand posing function --- spot_driver/spot_driver/spot_ros2.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/spot_driver/spot_driver/spot_ros2.py b/spot_driver/spot_driver/spot_ros2.py index bddec9d5..09b2d9cd 100644 --- a/spot_driver/spot_driver/spot_ros2.py +++ b/spot_driver/spot_driver/spot_ros2.py @@ -2590,8 +2590,8 @@ def arm_pose_cmd_callback(self, data: PoseStamped) -> None: qz=data.pose.orientation.z, qw=data.pose.orientation.w, ref_frame=data.header.frame_id, - duration=self.cmd_duration, ensure_power_on_and_stand=False, + blocking=False, ) if not result[0]: self.get_logger().warning(f"Failed to go to arm pose: {result[1]}")