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[SW-1539] don't publish images from hand camera if gripperless param set #518

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merged 6 commits into from
Nov 1, 2024
Merged

[SW-1539] don't publish images from hand camera if gripperless param set #518

merged 6 commits into from
Nov 1, 2024

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khughes-bdai
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@khughes-bdai khughes-bdai commented Oct 29, 2024 •
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Change Overview

The gripperless parameter was added recently to the python spot_ros2.py node . This also adds support for the same parameter in the C++ nodes, namely the image publishing stack so it doesn't try to request images from the hand camera if the robot is gripperless.

Testing Done

  • Ran image publishers on a robot with an arm and the gripperless param set to True (since I didn't have access to a robot with the gripperless firmware currently). Hand camera does not get published to.
  • new CI tests pass

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coveralls commented Oct 29, 2024 •
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Pull Request Test Coverage Report for Build 11582054295

Details

  • 6 of 12 (50.0%) changed or added relevant lines in 2 files are covered.
  • 7 unchanged lines in 1 file lost coverage.
  • Overall coverage increased (+0.01%) to 51.053%
Changes Missing Coverage Covered Lines Changed/Added Lines %
spot_driver/src/images/spot_image_publisher.cpp 2 3 66.67%
spot_driver/src/interfaces/rclcpp_parameter_interface.cpp 4 9 44.44%
Files with Coverage Reduction New Missed Lines %
spot_ros2/spot_ros2/spot_driver/spot_driver/launch/spot_launch_helpers.py 7 79.55%
Totals Coverage Status
Change from base Build 11575122233: 0.01%
Covered Lines: 1939
Relevant Lines: 3798
💛 - Coveralls

@khughes-bdai khughes-bdai marked this pull request as ready for review October 29, 2024 20:38
@khughes-bdai khughes-bdai mentioned this pull request Oct 31, 2024
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khughes-bdai commented Nov 1, 2024 •
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Merge activity

  • Nov 1, 1:47 PM EDT: A user started a stack merge that includes this pull request via Graphite.
  • Nov 1, 1:47 PM EDT: A user merged this pull request with Graphite.

@khughes-bdai khughes-bdai merged commit feea7b6 into main Nov 1, 2024
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@khughes-bdai khughes-bdai deleted the khughes/gripperless_dont_publish_hand_camera branch November 1, 2024 17:47
khughes-bdai added a commit that referenced this pull request Nov 5, 2024
@khughes-bdai
[SW-1507] gripperless URDF for Spot (#520)
f0da5d3 
## Change Overview

Adds support for the `gripperless` parameter at the URDF level, with the option to connect a new child link to joint `arm_wr1` (which would be the case when using a custom gripper)

related to #518

## Testing Done

 - [x] default URDF is unchanged
 - [x] ran updated spot description launchfile with `gripperless:=True`, model looks right

![image.png](https://graphite-user-uploaded-assets-prod.s3.amazonaws.com/Xynj6CBpA3NqqBFfE8Q9/4eb6af86-8305-4132-83e9-59a9fcc8cf16.png)




- [x] tested a new xacro skeleton using the `custom_gripper_base_link` arg. This same structure could be used to specify the base link of a custom gripper and then connect the spot model to the gripper model. 

```
<?xml version="1.0" ?>
<robot name="gripperless_test" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:include filename="$(find spot_description)/urdf/spot_macro.xacro" />

  <xacro:load_spot
    arm="true"
    gripperless="true"
    tf_prefix=""
    custom_gripper_base_link="gripper_base_link"/>

  <!-- custom gripper could be loaded after this, here we just have a stand in link as proof of concept -->
  <link name="gripper_base_link" />

</robot>

```
AngelRodriguez8008 added a commit to AngelRodriguez8008/spot_ros2 that referenced this pull request Dec 27, 2024
@AngelRodriguez8008
Merge branch 'main' into dev/angels_changes
50916a5 
* main:
  [SW-1106] using custom launch actions from synchros2 (bdaiinstitute#537)
  [SW-1764] allow use of preferred_odom_frame parameter (bdaiinstitute#538)
  [dependabot] Bump ros_utilities from `5aa699a` to `539c962` (bdaiinstitute#535)
  [SW-1658] Allow body frame to be root of TF tree (bdaiinstitute#536)
  [N/a] fix for launching the driver without the gripper (bdaiinstitute#534)
  [MAPLE-681] Add robot_description_package as parameter to driver launch (bdaiinstitute#531)
  [dependabot] Bump ros_utilities from `e4d5c80` to `5aa699a` (bdaiinstitute#530)
  [dependabot] Bump ros_utilities from `02ca14e` to `e4d5c80` (bdaiinstitute#525)
  [dependabot] Bump ros_utilities from `5258a5a` to `02ca14e` (bdaiinstitute#524)
  [dependabot] Bump spot_wrapper from `76e522b` to `c78ebfb` (bdaiinstitute#523)
  [dependabot] Bump ros_utilities from `23a79c9` to `5258a5a` (bdaiinstitute#522)
  [N/A] bugfix: give new xacro arguments default values (bdaiinstitute#521)
  [SW-1507] gripperless URDF for Spot (bdaiinstitute#520)
  [SW-1539] don't publish images from hand camera if gripperless param set (bdaiinstitute#518)
  [SW-1466] ability to take joint gains in through a parameter file (bdaiinstitute#516)

# Conflicts:
#	spot_driver/spot_driver/spot_ros2.py
AngelRodriguez8008 added a commit to AngelRodriguez8008/spot_ros2 that referenced this pull request Dec 27, 2024
@AngelRodriguez8008
Merge branch 'main' into dev/angels_changes
f5ef541 
* main:
  [SW-1106] using custom launch actions from synchros2 (bdaiinstitute#537)
  [SW-1764] allow use of preferred_odom_frame parameter (bdaiinstitute#538)
  [dependabot] Bump ros_utilities from `5aa699a` to `539c962` (bdaiinstitute#535)
  [SW-1658] Allow body frame to be root of TF tree (bdaiinstitute#536)
  [N/a] fix for launching the driver without the gripper (bdaiinstitute#534)
  [MAPLE-681] Add robot_description_package as parameter to driver launch (bdaiinstitute#531)
  [dependabot] Bump ros_utilities from `e4d5c80` to `5aa699a` (bdaiinstitute#530)
  [dependabot] Bump ros_utilities from `02ca14e` to `e4d5c80` (bdaiinstitute#525)
  [dependabot] Bump ros_utilities from `5258a5a` to `02ca14e` (bdaiinstitute#524)
  [dependabot] Bump spot_wrapper from `76e522b` to `c78ebfb` (bdaiinstitute#523)
  [dependabot] Bump ros_utilities from `23a79c9` to `5258a5a` (bdaiinstitute#522)
  [N/A] bugfix: give new xacro arguments default values (bdaiinstitute#521)
  [SW-1507] gripperless URDF for Spot (bdaiinstitute#520)
  [SW-1539] don't publish images from hand camera if gripperless param set (bdaiinstitute#518)
  [SW-1466] ability to take joint gains in through a parameter file (bdaiinstitute#516)

# Conflicts:
#	spot_driver/spot_driver/spot_ros2.py
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