[SW-1727] improve spot ros2 readmes #547

khughes-bdai · 2025-01-07T22:20:40Z

Change Overview

Readme's hadn't been updated in a while, so some info was old or not very helpful. This PR updates this info and splits out some info from the main readme (which was very long) into the relevant packages this repo contains. It also includes links to the wiki which has some more detailed information on what topics/actions/services are available.

I also swapped out the image at the top of the main readme purely for ✨ aesthetics ✨

I welcome nitpicks as this is a very nitpicky PR :)

Testing Done

N/A

khughes-bdai · 2025-01-07T22:21:06Z

[SW-1727] improve spot ros2 readmes #547 👈 (View in Graphite)
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coveralls · 2025-01-07T22:36:42Z

Pull Request Test Coverage Report for Build 12791034341

Details

0 of 0 changed or added relevant lines in 0 files are covered.
No unchanged relevant lines lost coverage.
Overall coverage remained the same at 51.374%

Totals
Change from base Build 12775928092:	0.0%
Covered Lines:	1963
Relevant Lines:	3821

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README.md

Signed-off-by: Katie Hughes <[email protected]>

Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Signed-off-by: Katie Hughes <[email protected]>

Signed-off-by: Manuel Schweiger <[email protected]> Signed-off-by: Katie Hughes <[email protected]>

## Change Overview This is simply a find/replace of `ubuntu-latest` -> `ubuntu-22.04`. Because `ubuntu-latest` will become 24.04 soon. We should pin to 22.04 which matches our development environment. ## Testing Done None. This PR is the test. (Assuming this repo has CI) Signed-off-by: Katie Hughes <[email protected]>

#548) ## Change Overview This came up recently when running the ros2 control stack on a robot that had an expired joint level control license. The error message spammed in this state is just "Failed to get robot state" which is not very helpful. Now this tells the user to double check for the license. ## Testing Done N/A Signed-off-by: Katie Hughes <[email protected]>

## Change Overview Mass replaces `bdai_ros2_wrappers` with `synchros2` so that there is no extra aliasing (which should make all imports faster, hopefully helping internal CI tests?) ## Testing Done - [x] if CI passes, this is okay - [x] run driver on robot for sanity check Signed-off-by: Katie Hughes <[email protected]>

Bumps [ros_utilities](https://github.com/bdaiinstitute/ros_utilities) from `ef5ee62` to `6d3c8f3`. <details> <summary>Commits</summary> <ul> <li><a href="https://github.com/bdaiinstitute/ros_utilities/commit/6d3c8f3e201cdfb184c6d30067e85e1964ba7919"><code>6d3c8f3</code></a> [SW-1712] Pin ubuntu version in workflows (<a href="https://redirect.github.com/bdaiinstitute/ros_utilities/issues/137">#137</a>)</li> <li>See full diff in <a href="https://github.com/bdaiinstitute/ros_utilities/compare/ef5ee6297a0ff23283cd208e06fd583868161e4c...6d3c8f3e201cdfb184c6d30067e85e1964ba7919">compare view</a></li> </ul> </details> <br /> Dependabot will resolve any conflicts with this PR as long as you don't alter it yourself. You can also trigger a rebase manually by commenting `@dependabot rebase`. [//]: # (dependabot-automerge-start) [//]: # (dependabot-automerge-end) --- <details> <summary>Dependabot commands and options</summary> <br /> You can trigger Dependabot actions by commenting on this PR: - `@dependabot rebase` will rebase this PR - `@dependabot recreate` will recreate this PR, overwriting any edits that have been made to it - `@dependabot merge` will merge this PR after your CI passes on it - `@dependabot squash and merge` will squash and merge this PR after your CI passes on it - `@dependabot cancel merge` will cancel a previously requested merge and block automerging - `@dependabot reopen` will reopen this PR if it is closed - `@dependabot close` will close this PR and stop Dependabot recreating it. You can achieve the same result by closing it manually - `@dependabot show <dependency name> ignore conditions` will show all of the ignore conditions of the specified dependency - `@dependabot ignore this major version` will close this PR and stop Dependabot creating any more for this major version (unless you reopen the PR or upgrade to it yourself) - `@dependabot ignore this minor version` will close this PR and stop Dependabot creating any more for this minor version (unless you reopen the PR or upgrade to it yourself) - `@dependabot ignore this dependency` will close this PR and stop Dependabot creating any more for this dependency (unless you reopen the PR or upgrade to it yourself) </details> [SW-1712]: https://theaiinstitute.atlassian.net/browse/SW-1712?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ Signed-off-by: Katie Hughes <[email protected]>

## Change Overview Reverts the calls to `update_sigterm_sigkill_timeout` introduced in #537. I have a very strong hunch that this is tanking CI execution time in our internal repo (after this change, we are only able to complete 17% of relevant tests before timing out, which is blocking my PR to bring in the latest changes from this repo). ## Testing Done N/A Signed-off-by: Katie Hughes <[email protected]>

Signed-off-by: Katie Hughes <[email protected]>

…tute/spot_ros2 into khughes/revamp_readmes

Signed-off-by: Katie Hughes <[email protected]>

khughes-bdai · 2025-01-15T14:58:49Z

Merge activity

Jan 15, 9:58 AM EST: A user started a stack merge that includes this pull request via Graphite.
Jan 15, 9:59 AM EST: Graphite couldn't merge this PR because it had conflicts with the trunk branch.
Jan 15, 10:18 AM EST: A user started a stack merge that includes this pull request via Graphite.
Jan 15, 10:18 AM EST: A user merged this pull request with Graphite.

jbarry-bdai

Thanks for this!!

jbarry-bdai · 2025-01-15T15:08:32Z

Dockerfile

@@ -28,4 +28,4 @@ RUN /ros_ws/src/install_spot_ros2.sh
 # Build packages with Colcon
 WORKDIR /ros_ws/
 RUN . /opt/ros/humble/setup.sh && \
-    colcon build --symlink-install --packages-ignore proto2ros proto2ros_tests
+    colcon build --symlink-install


why this change?

Since proto2ros got pulled into its own repo, these packages no longer exist here

jbarry-bdai · 2025-01-15T15:20:22Z

spot_driver/EyeInHandCalibration.md

+## Optional Automatic Eye-in-Hand Stereo Calibration Routine for Manipulator (Arm) Payload
+#### Collect Calibration


I don't think this belongs in spot driver because it's ROS2-specific and the driver supports 1 and 2?

I put it here because it is associated with the calibrated_reregistered_hand_camera_depth_publisher which is a part of spot_driver. Gary put the non-ros specific instructions in spot_wrapper here https://github.com/bdaiinstitute/spot_wrapper/blob/main/spot_wrapper/calibration/README.md . But happy to move this info elsewhere in this repo if it makes more sense

tcappellari-bdai reviewed Jan 14, 2025

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khughes-bdai marked this pull request as ready for review January 14, 2025 15:54

khughes-bdai requested review from METEORITENMAX, jbarry-bdai, amessing-bdai, mpickett-bdai and bhung-bdai as code owners January 14, 2025 15:54

Katie Hughes and others added 19 commits January 14, 2025 10:54

Start revamping

7eea51c

Signed-off-by: Katie Hughes <[email protected]>

More revamp

9690438

Signed-off-by: Katie Hughes <[email protected]>

more

c76b3f8

Signed-off-by: Katie Hughes <[email protected]>

New logo

34af0fa

Signed-off-by: Katie Hughes <[email protected]>

Spot description delete something that refers to bdai

5fc11e8

Signed-off-by: Katie Hughes <[email protected]>

Nit

dcf2455

Signed-off-by: Katie Hughes <[email protected]>

header

2dcedcd

Signed-off-by: Katie Hughes <[email protected]>

Add info about frames

289df99

Signed-off-by: Katie Hughes <[email protected]>

More nitpicking

f380189

Signed-off-by: Katie Hughes <[email protected]>

Nitpick the spot driver readme

8661354

Signed-off-by: Katie Hughes <[email protected]>

Title nit

a80b339

Signed-off-by: Katie Hughes <[email protected]>

[dependabot] Bump ros_utilities from 539c962 to ef5ee62 (#543)

dc104e4

Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Signed-off-by: Katie Hughes <[email protected]>

Fixes TimeSync with robot (#544)

ccd2189

Signed-off-by: Manuel Schweiger <[email protected]> Signed-off-by: Katie Hughes <[email protected]>

Add command to launch the driver in the top level readme

081d826

Signed-off-by: Katie Hughes <[email protected]>

khughes-bdai force-pushed the khughes/revamp_readmes branch from 3a2a452 to 081d826 Compare January 14, 2025 15:54

khughes-bdai requested a review from jiuguangw as a code owner January 14, 2025 15:54

khughes-bdai and others added 5 commits January 14, 2025 10:56

Merge branch 'main' into khughes/revamp_readmes

4d9c0f1

be more consistent about spacing

fa83c80

Signed-off-by: Katie Hughes <[email protected]>

Merge branch 'khughes/revamp_readmes' of https://github.com/bdaiinsti…

db84f08

…tute/spot_ros2 into khughes/revamp_readmes

Contributors

7d4cd82

Signed-off-by: Katie Hughes <[email protected]>

revert spot wrapper change

f439955

Signed-off-by: Katie Hughes <[email protected]>

khughes-bdai requested review from a team, mbrauckmann-bdai, tcappellari-bdai, jcarpinelli-bdai, bjin-bdai, mgoh-bdai and mvictora-bdai January 14, 2025 19:22

Spot_msgs cleanup

11da3c7

Signed-off-by: Katie Hughes <[email protected]>

bhung-bdai approved these changes Jan 14, 2025

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tcappellari-bdai approved these changes Jan 15, 2025

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Merge branch 'main' into khughes/revamp_readmes

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khughes-bdai merged commit 603f187 into main Jan 15, 2025
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khughes-bdai deleted the khughes/revamp_readmes branch January 15, 2025 15:18

jbarry-bdai reviewed Jan 15, 2025

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[SW-1727] improve spot ros2 readmes #547

[SW-1727] improve spot ros2 readmes #547

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		## Optional Automatic Eye-in-Hand Stereo Calibration Routine for Manipulator (Arm) Payload
		#### Collect Calibration

[SW-1727] improve spot ros2 readmes #547

[SW-1727] improve spot ros2 readmes #547

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khughes-bdai commented Jan 7, 2025 • edited Loading

Change Overview

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