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Bump Spot SDK from 4.0.2 to 4.1.0 #495

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merged 12 commits into from
Oct 17, 2024
Merged

Bump Spot SDK from 4.0.2 to 4.1.0 #495

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7db5cc2
Bump spot-sdk from 4.0.2 to 4.1.0
mhidalgo-bdai Oct 1, 2024
98501d7
Update spot_wrapper from `bde75c2` to `5c01ea7`
mhidalgo-bdai Oct 1, 2024
fc3c575
Parametrize Spot SDK version
mhidalgo-bdai Oct 1, 2024
ef09c20
Drop support for Python 3.8 and 3.9
mhidalgo-bdai Oct 1, 2024
868613b
Bump bosdyn_*msgs patch release version
mhidalgo-bdai Oct 1, 2024
c2c6e24
Bump bosdyn_*msgs patch release version again
mhidalgo-bdai Oct 4, 2024
6476e48
Use Spot C++ SDK shared libraries
mhidalgo-bdai Oct 8, 2024
4494cba
Bump bosdyn_*msgs patch release version
mhidalgo-bdai Oct 17, 2024
a0b7802
Update README.md
mhidalgo-bdai Oct 17, 2024
6ad3c15
Use better supported Protobuf APIs in spot_ros2_control
mhidalgo-bdai Oct 17, 2024
93d3b30
Use Spot C++ SDK .so libraries in spot_ros2_control
mhidalgo-bdai Oct 17, 2024
e636c15
Update spot_driver package.xml
mhidalgo-bdai Oct 17, 2024
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27 changes: 15 additions & 12 deletions .devcontainer/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -29,28 +29,31 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \

RUN source "/opt/ros/${ROS_DISTRO}/setup.bash"

ARG SPOT_SDK_VERSION="4.1.0"
ARG SPOT_MSG_VERSION="${SPOT_SDK_VERSION}-4"

# Install bosdyn_msgs package
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RUN curl -sL https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/4.0.2/ros-humble-bosdyn_msgs_4.0.2-jammy_amd64.run --output /tmp/ros-humble-bosdyn_msgs_4.0.2-jammy_amd64.run --silent \
&& chmod +x /tmp/ros-humble-bosdyn_msgs_4.0.2-jammy_amd64.run \
&& ((yes || true) | /tmp/ros-humble-bosdyn_msgs_4.0.2-jammy_amd64.run) \
&& rm /tmp/ros-humble-bosdyn_msgs_4.0.2-jammy_amd64.run
RUN curl -sL https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/${SPOT_MSG_VERSION}/ros-humble-bosdyn_msgs_${SPOT_MSG_VERSION}-jammy_amd64.run --output /tmp/ros-humble-bosdyn_msgs_${SPOT_MSG_VERSION}-jammy_amd64.run --silent \
&& chmod +x /tmp/ros-humble-bosdyn_msgs_${SPOT_MSG_VERSION}-jammy_amd64.run \
&& ((yes || true) | /tmp/ros-humble-bosdyn_msgs_${SPOT_MSG_VERSION}-jammy_amd64.run) \
&& rm /tmp/ros-humble-bosdyn_msgs_${SPOT_MSG_VERSION}-jammy_amd64.run

# Install spot_cpp_sdk package
RUN curl -sL https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/v4.0.2/spot-cpp-sdk_4.0.2_amd64.deb --output /tmp/spot-cpp-sdk_4.0.2_amd64.deb --silent \
&& dpkg -i /tmp/spot-cpp-sdk_4.0.2_amd64.deb \
&& rm /tmp/spot-cpp-sdk_4.0.2_amd64.deb
RUN curl -sL https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/v${SPOT_SDK_VERSION}/spot-cpp-sdk_${SPOT_SDK_VERSION}_amd64.deb --output /tmp/spot-cpp-sdk_${SPOT_SDK_VERSION}_amd64.deb --silent \
&& dpkg -i /tmp/spot-cpp-sdk_${SPOT_SDK_VERSION}_amd64.deb \
&& rm /tmp/spot-cpp-sdk_${SPOT_SDK_VERSION}_amd64.deb

# Install bosdyn_msgs missing dependencies
RUN python -m pip install --no-cache-dir --upgrade pip==22.3.1 \
&& pip install --root-user-action=ignore --no-cache-dir --default-timeout=900 \
numpy==1.24.1 \
pytest-cov==4.1.0 \
pytest-xdist==3.5.0 \
bosdyn-api==4.0.2 \
bosdyn-core==4.0.2 \
bosdyn-client==4.0.2 \
bosdyn-mission==4.0.2 \
bosdyn-choreography-client==4.0.2 \
bosdyn-api==${SPOT_SDK_VERSION} \
bosdyn-core==${SPOT_SDK_VERSION} \
bosdyn-client==${SPOT_SDK_VERSION} \
bosdyn-mission==${SPOT_SDK_VERSION} \
bosdyn-choreography-client==${SPOT_SDK_VERSION} \
pip cache purge

# Install spot_wrapper requirements
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2 changes: 0 additions & 2 deletions .github/workflows/ci.yml
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Expand Up @@ -34,8 +34,6 @@ jobs:
strategy:
matrix:
config:
- { python: "3.8" }
- { python: "3.9" }
- { python: "3.10" }
steps:
- name: Checkout repository
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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -2,7 +2,7 @@
<img src="spot.png" width="350">
<h1 align="center">Spot ROS 2 Driver</h1>
<p align="center">
<img src="https://img.shields.io/badge/python-3.8|3.9|3.10-blue"/>
<img src="https://img.shields.io/badge/python-3.10-blue"/>
<a href="https://github.com/astral-sh/ruff">
<img src="https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json"/>
</a>
Expand All @@ -23,7 +23,7 @@

# Overview
This is a ROS 2 package for Boston Dynamics' Spot. The package contains all necessary topics, services and actions to teleoperate or navigate Spot.
This package is derived from this [ROS 1 package](https://github.com/heuristicus/spot_ros). This package currently corresponds to version 4.0.2 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.0.2).
This package is derived from this [ROS 1 package](https://github.com/heuristicus/spot_ros). This package currently corresponds to version 4.1.0 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.1.0).

## Prerequisites
This package is tested for Ubuntu 22.04 and ROS 2 Humble, which can be installed following [this guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
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4 changes: 2 additions & 2 deletions install_spot_ros2.sh
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@@ -1,6 +1,6 @@
ARCH="amd64"
SDK_VERSION="4.0.2"
MSG_VERSION="${SDK_VERSION}"
SDK_VERSION="4.1.0"
MSG_VERSION="${SDK_VERSION}-4"
ROS_DISTRO=humble
HELP=$'--arm64: Installs ARM64 version'
REQUIREMENTS_FILE=spot_wrapper/requirements.txt
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6 changes: 3 additions & 3 deletions pyproject.toml
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Expand Up @@ -29,7 +29,7 @@ exclude = [
]
line-length = 120
dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
target-version = "py38"
target-version = "py310"

[tool.ruff.per-file-ignores]
"__init__.py" = ["F401"]
Expand All @@ -39,7 +39,7 @@ max-complexity = 10

[tool.black]
line-length = 120
target-version = ['py38']
target-version = ['py310']
include = '\.pyi?$'
force-exclude = '''
/(
Expand All @@ -48,7 +48,7 @@ force-exclude = '''
preview = true

[tool.mypy]
python_version = "3.8"
python_version = "3.10"
disallow_untyped_defs = true
ignore_missing_imports = true
explicit_package_bases = true
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11 changes: 6 additions & 5 deletions spot_driver/CMakeLists.txt
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@@ -1,7 +1,5 @@
cmake_minimum_required(VERSION 3.22)

list(APPEND CMAKE_PREFIX_PATH /opt/spot-cpp-sdk)

Comment on lines -3 to -4
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this line is also in the spot_ros2_control cmake and probably could also be removed if it's not needed anymore

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Done in 93d3b30.

project(spot_driver)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
Expand All @@ -18,6 +16,7 @@ endif()

set(THIS_PACKAGE_INCLUDE_ROS_DEPENDS
bosdyn_api_msgs
bosdyn_cmake_module
bosdyn_spot_api_msgs
cv_bridge
geometry_msgs
Expand All @@ -36,12 +35,14 @@ set(THIS_PACKAGE_INCLUDE_ROS_DEPENDS

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(bosdyn REQUIRED)
find_package(OpenCV 4 REQUIRED)

foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_ROS_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()

find_package(bosdyn REQUIRED)
find_package(OpenCV 4 REQUIRED)

###
# Spot API
###
Expand Down Expand Up @@ -85,7 +86,7 @@ target_include_directories(spot_api PUBLIC
$<INSTALL_INTERFACE:include>
)

target_link_libraries(spot_api PUBLIC bosdyn::bosdyn_client_static)
target_link_libraries(spot_api PUBLIC bosdyn::bosdyn_client)
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Is this same change also needed for the ros2 control package?

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Good catch. Done in 93d3b30.

set_property(TARGET spot_api PROPERTY POSITION_INDEPENDENT_CODE ON)
ament_target_dependencies(spot_api PUBLIC ${THIS_PACKAGE_INCLUDE_ROS_DEPENDS})

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15 changes: 10 additions & 5 deletions spot_ros2_control/hardware/src/spot_hardware_interface.cpp
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Expand Up @@ -487,8 +487,10 @@ bool SpotHardware::start_command_stream() {
return false;
}

joint_cmd->mutable_gains()->mutable_k_q_p()->Assign(kp.begin(), kp.end());
joint_cmd->mutable_gains()->mutable_k_qd_p()->Assign(kd.begin(), kd.end());
joint_cmd->mutable_gains()->mutable_k_q_p()->Clear();
joint_cmd->mutable_gains()->mutable_k_q_p()->Add(kp.begin(), kp.end());
joint_cmd->mutable_gains()->mutable_k_qd_p()->Clear();
joint_cmd->mutable_gains()->mutable_k_qd_p()->Add(kd.begin(), kd.end());

// Let it extrapolate the command a little
joint_cmd->mutable_extrapolation_duration()->CopyFrom(
Expand Down Expand Up @@ -518,9 +520,12 @@ void SpotHardware::send_command(const JointStates& joint_commands) {
// build protobuf
auto* joint_cmd = joint_request_.mutable_joint_command();

joint_cmd->mutable_position()->Assign(position.begin(), position.end());
joint_cmd->mutable_velocity()->Assign(velocity.begin(), velocity.end());
joint_cmd->mutable_load()->Assign(load.begin(), load.end());
joint_cmd->mutable_position()->Clear();
joint_cmd->mutable_position()->Add(position.begin(), position.end());
joint_cmd->mutable_velocity()->Clear();
joint_cmd->mutable_velocity()->Add(velocity.begin(), velocity.end());
joint_cmd->mutable_load()->Clear();
joint_cmd->mutable_load()->Add(load.begin(), load.end());

if (endpoint_ == nullptr) {
auto endpoint_result = robot_->StartTimeSyncAndGetEndpoint();
Expand Down
2 changes: 1 addition & 1 deletion spot_wrapper
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Submodule spot_wrapper updated 3 files
+0 −4 .github/workflows/ci.yml
+2 −0 README.md
+5 −5 requirements.txt
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