[SW-822] Spot Driver without gripper #430
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tcappellari-bdai
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METEORITENMAX,
jbarry-bdai,
amessing-bdai,
mpickett-bdai,
bhung-bdai and
khughes-bdai
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bhung-bdai
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Jul 15, 2024
Pull Request Test Coverage Report for Build 9961613953Details
💛 - Coveralls |
amessing-bdai
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Jul 15, 2024
|
This is maybe a topic for another PR, but how does this work with the image publishers? Eg what will happen if the robot is gripperless but the C++ image publishers try to request the hand camera? |
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| if has_arm and not self.gripperless: | ||
| all_cameras.append("hand") | ||
| self.declare_parameter("cameras_used", all_cameras) |
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I think this param is not used at all in this node and can be completely deleted (it's all in C++ now)
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| @@ -861,7 +867,7 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw | |||
| self.handle_graph_nav_set_localization, | |||
| callback_group=self.group, | |||
| ) | |||
| if has_arm: | |||
| if has_arm and self.gripperless: | |||
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@tcappellari-bdai shouldn't this be if has_arm and not self.gripperless?
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Change Overview
Added a parameter "gripperless" to indicate if the gripper is attached to the arm or not. If the arm is present but gripper is not, it will skip making the gripper and hand camera services.
Goes with bdaiinstitute/spot_wrapper#125
Testing Done
Tested on a Spot with a special gripperless firmware
Please create a checklist of tests you plan to do and check off the ones that have been completed successfully. Ensure that ROS 2 tests use
domain_coordinatorto prevent port conflicts. Further guidance for testing can be found on the ros utilities wiki.