[N/A] blocking sit command #122
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khughes-bdai
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heuristicus,
amessing-bdai and
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amessing-bdai
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Jun 26, 2024
khughes-bdai
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Jun 26, 2024
## Change Overview Currently, when you CTRL+C the driver, Spot will sit. If the estop is held by the tablet, this is annoying to deal with if you are starting and stopping the driver often, so this PR removes this feature. If the estop is held by the driver, we still need to force sitting on shutdown, otherwise the robot will collapse to the ground if you CTRL+C. EDIT: bdaiinstitute/spot_wrapper#122 and #420 need to go in first so I can use the blocking version of the sit command. ## Testing Done - [x] started driver without an estop (i.e., estop is controlled by the tablet). Upon CTRL+C'ing the driver, the robot doesn't sit. - [x] started driver with an estop (i.e., added `start_estop: True` to my config yaml). Robot cleanly sits down upon driver CTRL+C
marlow-fawn
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Aug 19, 2024
…e#417) ## Change Overview Currently, when you CTRL+C the driver, Spot will sit. If the estop is held by the tablet, this is annoying to deal with if you are starting and stopping the driver often, so this PR removes this feature. If the estop is held by the driver, we still need to force sitting on shutdown, otherwise the robot will collapse to the ground if you CTRL+C. EDIT: bdaiinstitute/spot_wrapper#122 and bdaiinstitute#420 need to go in first so I can use the blocking version of the sit command. ## Testing Done - [x] started driver without an estop (i.e., estop is controlled by the tablet). Upon CTRL+C'ing the driver, the robot doesn't sit. - [x] started driver with an estop (i.e., added `start_estop: True` to my config yaml). Robot cleanly sits down upon driver CTRL+C
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Adds a blocking sit command that does not return until the robot has completely sat down.
Tested that this works via the ROS 2 driver, needed for bdaiinstitute/spot_ros2#417