Modular graphnav #6
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* use pytest instead * add pytest dependency * fail test on purpose * remove failing test
…pot_ros2 (bdaiinstitute#7) Co-authored-by: Andrew Messing <[email protected]>
* simple led brightness control, only able to set all leds to same value * Add power control, but unclear if it is actually possible to set power for aux and external mic * most basic functional image stream publisher with webrtc * add compositor to handle IR and webrtc stream selection with services Add timestamp for the webrtc images Add compressed version of the webrtc image stream * Add health wrapper, move body of robotToLocalTime out of spot wrapper object robotToLocalTime now takes the timestamp and a robot object, which allows it to be used by the spot cam wrapper as well. * add handler and wrapper for audio commands * update webrtc_client to 3.2 version * add stream quality wrapper and ros handler * initial implementation of ptz wrapper and handler, can list ptzs * ptz handler publishes position and velocity of ptzs, can set position and velocity * add egg info to gitignore
* change the try-claim decorator to an object * claim decorator takes functions it needs, no longer relies on power being decorated Previously the claim decorator assumed that the power_on function was decorated with the same decorator. If power on was requested, the power on function would do the claiming, and then power on the system. That is kind of confusing, so now the decorator will call claim first, and then optionally power on. Also takes the power on and claim functions, rather than calling the ones on the wrapper itself. * formatting * move decorator object to helper file, rename and make functions better, decorate docking functions * formatting * remove mistakenly merged robot command data and state * decorate arm commands * Fixed bugs with decorated functions * black --------- Co-authored-by: Andrew Messing <[email protected]> Co-authored-by: Andrew Messing <[email protected]>
bhung-bdai
reviewed
Aug 3, 2023
| ko_tform_body=current_odom_tform_body, | ||
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| def set_initial_localization_waypoint(self, *args): |
bhung-bdai
reviewed
Aug 3, 2023
| f"Got robot state in kinematic odometry frame: \n{str(odom_tform_body)}" | ||
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| def set_initial_localization_fiducial(self, *args): |
bhung-bdai
reviewed
Aug 3, 2023
| # Downloading, reproducing, distributing or otherwise using the SDK Software | ||
| # is subject to the terms and conditions of the Boston Dynamics Software | ||
| # Development Kit License (20191101-BDSDK-SL). | ||
| def _get_localization_state(self, *args): |
There was a problem hiding this comment.
This function appears to be duplicated in wrapper.py
bhung-bdai
reviewed
Aug 3, 2023
| f.write(data) | ||
| f.close() | ||
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| def _list_graph_waypoint_and_edge_ids(self, *args): |
There was a problem hiding this comment.
Almost exactly the same as the function in wrapper.py
bhung-bdai
reviewed
Aug 3, 2023
| "fiducial before attempting a navigation command." | ||
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| def _navigate_to(self, waypoint_id: str) -> typing.Tuple[bool, str]: |
There was a problem hiding this comment.
Again, similar duplication in wrapper.py
bhung-bdai
reviewed
Aug 3, 2023
| f.write(data) | ||
| f.close() | ||
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| def _download_graph_and_snapshots( |
bhung-bdai
reviewed
Aug 3, 2023
| ) | ||
| return True, "Success" | ||
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| def clear_graph(self) -> typing.Tuple[bool, str]: |
There was a problem hiding this comment.
Similar function without the extra nested function call in wrapper.py
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This was just a reference for me, please use bdaiinstitute#44 for comments. |
bhung-bdai
reviewed
Aug 3, 2023
| f"Got an error while clearing a graph and snanshots in a robot: {e}", | ||
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| def upload_graph(self, upload_path: str) -> typing.Tuple[bool, str]: |
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