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Expose lease release without EStop #315

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Expose lease release without EStop #315

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17 changes: 16 additions & 1 deletion spot_driver/spot_driver/spot_ros2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -476,6 +476,12 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
lambda request, response: self.service_wrapper("release", self.handle_release, request, response),
callback_group=self.group,
)
self.create_service(
Trigger,
"lease/release",
lambda request, response: self.service_wrapper("lease/release", self.handle_lease_release, request, response),
callback_group=self.group,
)
self.create_service(
Trigger,
"stop",
Expand Down Expand Up @@ -1111,14 +1117,23 @@ def handle_claim(self, request: Trigger.Request, response: Trigger.Response) ->
return response

def handle_release(self, request: Trigger.Request, response: Trigger.Response) -> Trigger.Response:
"""ROS service handler for the release service"""
"""ROS service handler for the release service (lease and EStop)"""
if self.spot_wrapper is None:
response.success = False
response.message = "Spot wrapper is undefined"
return response
response.success, response.message = self.spot_wrapper.release()
return response

def handle_lease_release(self, request: Trigger.Request, response: Trigger.Response) -> Trigger.Response:
"""ROS service handler to release the lease (and not the EStop.)"""
if self.spot_wrapper is None:
response.success = False
response.message = "Spot wrapper is undefined"
return response
response.success, response.message = self.spot_wrapper.releaseLease()
return response

def handle_stop(self, request: Trigger.Request, response: Trigger.Response) -> Trigger.Response:
"""ROS service handler for the stop service"""
if self.spot_wrapper is None:
Expand Down
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