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[SW-822] Spot Driver without gripper #430

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merged 5 commits into from
Jul 16, 2024
Merged

[SW-822] Spot Driver without gripper #430

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d22402a
added gripperless parameter to define if the arm is missing a gripper…
tcappellari-bdai Jul 12, 2024
f252bad
added gripperless paramet4er to example yaml
tcappellari-bdai Jul 15, 2024
4d4aa2a
typo
tcappellari-bdai Jul 15, 2024
9228de0
Merge branch 'main' into tcap/gripperless_driver
tcappellari-bdai Jul 15, 2024
d5a5c3f
Merge branch 'main' into tcap/gripperless_driver
tcappellari-bdai Jul 16, 2024
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3 changes: 3 additions & 0 deletions spot_driver/config/spot_ros_example.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -42,3 +42,6 @@
virtual_camera_plane_distance: 0.5
# The stitched image will be of size (<frontleft image width>, <frontleft image height> + row_padding)
stitched_image_row_padding: 1182

# Change to True if missing gripper on arm
gripperless: False
42 changes: 24 additions & 18 deletions spot_driver/spot_driver/spot_ros2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -248,6 +248,8 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
self.declare_parameter("spot_name", "")
self.declare_parameter("mock_enable", False)

self.declare_parameter("gripperless", False)

# When we send very long trajectories to Spot, we create batches of
# given size. If we do not batch a long trajectory, Spot will reject it.
self.declare_parameter(self.TRAJECTORY_BATCH_SIZE_PARAM, 100)
Expand Down Expand Up @@ -287,6 +289,8 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
self.graph_nav_seed_frame: str = self.get_parameter("graph_nav_seed_frame").value
self.initialize_spot_cam: bool = self.get_parameter("initialize_spot_cam").value

self.gripperless: bool = self.get_parameter("gripperless").value

self._wait_for_goal: Optional[WaitForGoal] = None
self.goal_handle: Optional[ServerGoalHandle] = None

Expand Down Expand Up @@ -412,6 +416,7 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
port=self.port,
logger=self.cam_logger,
cert_resource_glob=self.certificate,
gripperless=self.gripperless,
)
except SystemError:
self.spot_cam_wrapper = None
Expand All @@ -428,7 +433,7 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
has_arm = self.mock_has_arm
if self.spot_wrapper is not None:
has_arm = self.spot_wrapper.has_arm()
if has_arm:
if has_arm and not self.gripperless:
all_cameras.append("hand")
self.declare_parameter("cameras_used", all_cameras)
Comment on lines +436 to 438
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@khughes-bdai khughes-bdai Jul 15, 2024 •
edited
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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)

self.cameras_used = self.get_parameter("cameras_used")
Expand Down Expand Up @@ -564,22 +569,23 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
callback_group=self.group,
)

self.create_service(
Trigger,
"open_gripper",
lambda request, response: self.service_wrapper(
"open_gripper", self.handle_open_gripper, request, response
),
callback_group=self.group,
)
self.create_service(
Trigger,
"close_gripper",
lambda request, response: self.service_wrapper(
"close_gripper", self.handle_close_gripper, request, response
),
callback_group=self.group,
)
if not self.gripperless:
self.create_service(
Trigger,
"open_gripper",
lambda request, response: self.service_wrapper(
"open_gripper", self.handle_open_gripper, request, response
),
callback_group=self.group,
)
self.create_service(
Trigger,
"close_gripper",
lambda request, response: self.service_wrapper(
"close_gripper", self.handle_close_gripper, request, response
),
callback_group=self.group,
)

self.create_service(
SetBool,
Expand Down Expand Up @@ -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?

self.create_service(
GetGripperCameraParameters,
"get_gripper_camera_parameters",
Expand Down
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