modified to use same sdk instance

bdaiinstitute · Apr 5, 2024 · 4e4da85 · 4e4da85
1 parent e5d9ade
commit 4e4da85
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/spot_wrapper/cam_wrapper.py b/spot_wrapper/cam_wrapper.py
@@ -893,14 +893,14 @@ async def _process_func(self):
 
 
 class SpotCamWrapper:
-    def __init__(self, hostname, username, password, logger, robot, port: typing.Optional[int] = None):
+    def __init__(self, hostname, username, password, logger, robot, sdk, port: typing.Optional[int] = None):
         self._hostname = hostname
         self._username = username
         self._password = password
         self._logger = logger
 
         # Create robot object and authenticate.
-        self.sdk = bosdyn.client.create_standard_sdk("Spot CAM Client")
+        self.sdk = sdk
         spot_cam.register_all_service_clients(self.sdk)
 
         self.robot = robot

diff --git a/spot_wrapper/wrapper.py b/spot_wrapper/wrapper.py
@@ -597,7 +597,8 @@ def init_camera_wrapper(self, cam_logger) -> SpotCamWrapper:
         Initializes the spot camera wrapper
         """
         self.authenticate(self._robot, self._username, self._password, cam_logger)
-        spot_cam_wrapper = SpotCamWrapper(self._hostname, self._username, self._password, cam_logger, self._robot)
+        spot_cam_wrapper = SpotCamWrapper(self._hostname, self._username, self._password, cam_logger, 
+                                          self._robot, self._sdk)
         return spot_cam_wrapper
 
     def decorate_functions(self):