From 7eea51ccbf946eb20a5ae09013420626b30ad36e Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Thu, 19 Dec 2024 18:20:21 -0500 Subject: [PATCH 01/23] Start revamping Signed-off-by: Katie Hughes --- README.md | 226 ++++++---------------------- spot_driver/EyeInHandCalibration.md | 86 +++++++++++ spot_driver/README.md | 68 ++++++++- 3 files changed, 191 insertions(+), 189 deletions(-) create mode 100644 spot_driver/EyeInHandCalibration.md diff --git a/README.md b/README.md index a16733703..f29e18624 100644 --- a/README.md +++ b/README.md @@ -22,48 +22,52 @@

# Overview -This is a ROS 2 package for Boston Dynamics' Spot. The package contains all necessary topics, services and actions to teleoperate or navigate Spot. -This package is derived from this [ROS 1 package](https://github.com/heuristicus/spot_ros). This package currently corresponds to version 4.1.0 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.1.0). +This repository contains a set of ROS 2 packages for interacting with Boston Dynamics' Spot. +It is derived from [the ROS 1 equivalent](https://github.com/heuristicus/spot_ros). +Currently, this repository corresponds to version 4.1.0 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.1.0). -## Prerequisites -This package is tested for Ubuntu 22.04 and ROS 2 Humble, which can be installed following [this guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html). +## Requirements +This repository is supported for Ubuntu 22.04 and [ROS 2 Humble](https://docs.ros.org/en/humble/index.html) on both ARM64 and AMD64 platforms. ## Installation -In your ROS 2 workspace `src` directory, clone the repository: +Set up your ROS 2 workspace, and clone the repository in the `src` directory: ```bash +mkdir -p /src && cd /src git clone https://github.com/bdaiinstitute/spot_ros2.git ``` -and initialize and install the submodules: +Then initialize and install the submodules. ```bash cd spot_ros2 git submodule init git submodule update ``` -Then run the install script to install the necessary Boston Dynamics and ROS dependencies. The install script takes the optional argument ```--arm64```; it otherwise defaults to an AMD64 install. Run the correct command based on your system: +Next, run the following script to install the necessary Boston Dynamics and ROS dependencies. +The install script takes the optional argument ```--arm64```; it otherwise defaults to an AMD64 install. ```bash -cd ./install_spot_ros2.sh or ./install_spot_ros2.sh --arm64 ``` -From here, build and source the ROS 2 workspace: -``` -cd -source /opt/ros/humble/setup.bash -colcon build --symlink-install --packages-ignore proto2ros_tests -source install/local_setup.bash +From here, build and source your ROS 2 workspace. +```bash +cd +colcon build --symlink-install +source install/setup.bash ``` -We suggest ignoring the `proto2ros_tests` package in the build as it is not necessary for running the driver. If you choose to build it, you will see a number of error messages from testing the failure paths. - ### Alternative - Docker Image -Alternatively, a Dockerfile is available that prepares a ready-to-run ROS2 Humble install with the Spot driver installed. +Alternatively, a Dockerfile is available that prepares a ready-to-run ROS 2 Humble install with the Spot driver built. -No special precautions or actions need to be taken to build the image. Just clone the repository and run `docker build` in the root of the repo to build the image. +The Docker image can be built and run with the following commands: +```bash +cd /src/spot_ros2 +docker build . -t spot_ros2 +docker run -it spot_ros2:latest +``` -No special actions need to be taken to run the image either. However, depending on what you intend to _do_ with the driver in your project, the following flags may be useful: +The following flags may be useful for extra functionality when running the image: | Flag | Use | | -------- | --------------- | @@ -71,171 +75,29 @@ No special actions need to be taken to run the image either. However, depending | `-e DISPLAY` | Bind your display to the container in order to run GUI apps. Note that you will need to allow the Docker container to connect to your X11 server, which can be done in a number of ways ranging from disabling X11 authentication entirely, or by allowing the Docker daemon specifically to access your display server. | | `--network host` | Use the host network directly. May help resolve issues connecting to Spot Wifi | -The image does not have the `proto2ros_tests` package built. You'll need to build it yourself inside the container if you need to use it. - -# Spot ROS 2 Driver - -The Spot driver contains all of the necessary topics, services, and actions for controlling Spot over ROS 2. To launch the driver, run: -``` -ros2 launch spot_driver spot_driver.launch.py [config_file:=] [spot_name:=] [publish_point_clouds:=] [launch_rviz:=] [uncompress_images:=] [publish_compressed_images:=] -``` - -## Configuration - -The Spot login data hostname, username and password can be specified either as ROS parameters or as environment variables. If using ROS parameters, see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for an example of what your file could look like. If using environment variables, define `BOSDYN_CLIENT_USERNAME`, `BOSDYN_CLIENT_PASSWORD`, and `SPOT_IP`. - -## Simple Robot Commands -Many simple robot commands can be called as services from the command line once the driver is running. For example: - -* `ros2 service call //sit std_srvs/srv/Trigger` -* `ros2 service call //stand std_srvs/srv/Trigger` -* `ros2 service call //undock std_srvs/srv/Trigger` -* `ros2 service call //power_off std_srvs/srv/Trigger` - -If your Spot has an arm, some additional helpful services are exposed: -* `ros2 service call //arm_stow std_srvs/srv/Trigger` -* `ros2 service call //arm_unstow std_srvs/srv/Trigger` -* `ros2 service call //arm_carry std_srvs/srv/Trigger` -* `ros2 service call //open_gripper std_srvs/srv/Trigger` -* `ros2 service call //close_gripper std_srvs/srv/Trigger` - -The full list of interfaces provided by the driver can be explored via `ros2 topic list`, `ros2 service list`, and `ros2 action list`. For more information about the custom message types used in this package, run `ros2 interface show `. - -## Examples -See [`spot_examples`](spot_examples/) for some more complex examples of using the ROS 2 driver to control Spot, which typically use the action servers provided by the driver. - -## Images -Perception data from Spot is handled through the `spot_image_publishers.launch.py` launchfile, which is launched by default from the driver. If you want to only view images from Spot, without bringing up any of the nodes to control the robot, you can also choose to run this launchfile independently. - -By default, the driver will publish RGB images as well as depth maps from the `frontleft`, `frontright`, `left`, `right`, and `back` cameras on Spot (plus `hand` if your Spot has an arm). You can customize the cameras that are streamed from by adding the `cameras_used` parameter to your config yaml. (For example, to stream from only the front left and front right cameras, you can add `cameras_used: ["frontleft", "frontright"]`). Additionally, if your Spot has greyscale cameras, you will need to set `rgb_cameras: False` in your configuration YAML file, or you will not receive any image data. - -By default, the driver does not publish point clouds. To enable this, launch the driver with `publish_point_clouds:=True`. - -The driver can publish both compressed images (under `//camera//compressed`) and uncompressed images (under `//camera//image`). By default, it will only publish the uncompressed images. You can turn (un)compressed images on/off by launching the driver with the flags `uncompress_images:=` and `publish_compressed_images:=`. - -The driver also has the option to publish a stitched image created from Spot's front left and front right cameras (similar to what is seen on the tablet). If you wish to enable this, launch the driver with `stitch_front_images:=True`, and the image will be published under `//camera/frontmiddle_virtual/image`. In order to receive meaningful stitched images, you will have to specify the parameters `virtual_camera_intrinsics`, `virtual_camera_projection_plane`, `virtual_camera_plane_distance`, and `stitched_image_row_padding` (see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for some default values). - -> **_NOTE:_** -If your image publishing rate is very slow, you can try -> - connecting to your robot via ethernet cable -> - exporting a custom DDS profile we have provided by running the following in the same terminal your driver will run in, or adding to your `.bashrc`: -> ``` -> export=FASTRTPS_DEFAULT_PROFILES_FILE=/custom_dds_profile.xml -> ``` - -## Optional Automatic Eye-in-Hand Stereo Calibration Routine for Manipulator (Arm) Payload -#### Collect Calibration -An optional custom Automatic Eye-in-Hand Stereo Calibration Routine for the arm is available for use in the ```spot_wrapper``` submodule, where the -output results can be used with ROS 2 for improved Depth to RGB correspondence for the hand cameras. -See the readme at [```/spot_wrapper/spot_wrapper/calibration/README.md```](https://github.com/bdaiinstitute/spot_wrapper/tree/main/spot_wrapper/calibration/README.md) for -target setup and relevant information. - -First, collect a calibration with ```spot_wrapper/spot_wrapper/calibrate_spot_hand_camera_cli.py```. -Make sure to use the default ```--stereo_pairs``` configuration, and the default tag configuration (```--tag default```). - -For the robot and target setup described in [```/spot_wrapper/spot_wrapper/calibration/README.md```](https://github.com/bdaiinstitute/spot_wrapper/tree/main/spot_wrapper/calibration/README.md), the default viewpoint ranges should suffice. - -``` -python3 spot_wrapper/spot_wrapper/calibrate_spot_hand_camera_cli.py --ip -u user -pw --data_path ~/my_collection/ \ ---save_data --result_path ~/my_collection/calibrated.yaml --photo_utilization_ratio 1 --stereo_pairs "[(1,0)]" \ ---spot_rgb_photo_width=640 --spot_rgb_photo_height=480 --tag default --legacy_charuco_pattern True -``` - -Then, you can run a publisher to transform the depth image into the rgb images frame with the same image -dimensions, so that finding the 3D location of a feature found in rgb can be as easy as passing -the image feature pixel coordinates to the registered depth image, and extracting the 3D location. -For all possible command line arguments, run ```ros2 run spot_driver calibated_reregistered_hand_camera_depth_publisher.py -h``` - -#### Run the Calibrated Re-Publisher -``` -ros2 run spot_driver calibrated_reregistered_hand_camera_depth_publisher.py --tag=default --calibration_path --robot_name --topic_name /depth_registered/hand_custom_cal/image -``` - -You can treat the reregistered topic, (in the above example, ```/depth_registered/hand_custom_cal/image```) -as a drop in replacement by the registered image published by the default spot driver -(```/depth_registered/hand/image```). The registered depth can be easily used in tools -like downstream, like Open3d, (see [creating RGBD Images](https://www.open3d.org/docs/release/python_api/open3d.geometry.RGBDImage.html) and [creating color point clouds from RGBD Images](https://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html#open3d.geometry.PointCloud.create_from_rgbd_image)), due to matching image dimensions and registration -to a shared frame. - -#### Comparing Calibration Results Quick Sanity Check -You can compare the new calibration to the old calibration through comparing visualizing -the colored point cloud from a bag in RViz. See RViz setup below the bagging instructions. - - -First, collect a bag where there is a an object of a clearly different color in the foreground then -that of the background. - -``` -ROBOT_NAME= && \ -ros2 bag record --output drop_in_test --topics /tf /tf_static \ -/${ROBOT_NAME}/depth/hand/image /${ROBOT_NAME}/camera/hand/camera_info \ -/${ROBOT_NAME}/joint_states /${ROBOT_NAME}/camera/hand/image \ -/${ROBOT_NAME}/depth_registered/hand/image -``` - -To see what the default calibration looks like: -``` -# In seperate terminals - -ros2 bag play drop_in_test --loop -ROBOT_NAME= && \ -ros2 launch spot_driver point_cloud_xyzrgb.launch.py spot_name:=${ROBOT_NAME} camera:=hand -``` - -To see what the new calibration looks like: -``` -# In seperate terminals -ROBOT_NAME= && \ -ros2 bag play drop_in_test --loop --topics /${ROBOT_NAME}/depth/hand/image \ -/${ROBOT_NAME}/camera/hand/camera_info /${ROBOT_NAME}/joint_states \ -/${ROBOT_NAME}/camera/hand/image /tf /tf_static - -ROBOT_NAME= && \ -CALIBRATION_PATH= && \ -ros2 run spot_driver calibrated_reregistered_hand_camera_depth_publisher.py --robot_name ${ROBOT_NAME} \ ---calibration_path ${CALIBRATION_PATH} --topic depth_registered/hand/image - -ROBOT_NAME= && \ -ros2 launch spot_driver point_cloud_xyzrgb.launch.py spot_name:=${ROBOT_NAME} camera:=hand -``` - -#### RVIZ Setup for Sanity Check: -Set global frame to be ```//hand``` - -Add (bottom left) -> by topic -> -```//depth_registered/hand/points``` -> ok - -On the left pane, expand the PointCloud2 message. Expand Topic. Set History -Policy to be Keep Last, Reliability Policy to be Best Effort, and Durability policy to be -Volatile (select these from the dropdowns). - - - -## Spot CAM -Due to known issues with the Spot CAM, it is disabled by default. To enable publishing and usage over the driver, add the following command in your configuration YAML file: - `initialize_spot_cam: True` - -The Spot CAM payload has known issues with the SSL certification process in https. If you get the following errors: - -``` -non-existing PPS 0 referenced -decode_slice_header error -no frame! -``` -Then you want to log into the Spot CAM over the browser. In your browser, type in: +# Packages - https://:/h264.sdp.html +This repo consists of a series of ROS 2 packages for usage with Spot. Further documentation on how each of these packages can be used can be found in their resepective README's. -The default port for SDP is 31102 for the Spot CAM. Once inside, you will be prompted to log in using your username and password. Do so and the WebRTC frames should begin to properly stream. +* `spot_description`: contains the URDF of Spot and some simple launchfiles for visualization. +* `spot_driver`: Core driver for operating Spot. This contains all of the necessary topics, services, and actions for controlling Spot and receiving state information over ROS 2. +* `spot_examples`: Examples of how to control Spot via the Spot driver. +* `spot_msgs`: Custom messages, services, and interfaces relevant for operating Spot. -# Spot ROS 2 Control -This repository also provides a ROS 2 control package designed to interface with Spot's joint control API. Further documentation and examples can be found in [`spot_ros2_control`](./spot_ros2_control/). +The following packages are used to enable joint level control of Spot via ROS 2 control. +* `spot_ros2_control`: Contains core launchfiles for bringing up Spot's ROS 2 control stack, and some examples of how to use this. +* `spot_hardware_interface`: Creates a ROS 2 control hardware interface plugin for operating Spot with the joint level API. +* `spot_controllers`: Holds some simple forwarding controller plugins useful for sending commands. -# Advanced Install +This package also pulls in some relevant packages as submodules, listed below. +* `ros_utilities`: The AI Institute's convenience wrappers around ROS 2. +* `spot_wrapper`: A Python wrapper around the Spot SDK, shared as a common entry point with Spot's ROS 1 repo. -## Install bosdyn_msgs from source -The `bosdyn_msgs` package is installed as a debian package as part of the `install_spot_ros2` script because it's very large. It can be checked out from source [here](https://github.com/bdaiinstitute/bosdyn_msgs) and then built as a normal ROS 2 package if that is preferred (compilation takes about 15 minutes). +This repository also depends on the `bosdyn_msgs` ROS package. +This package contains ROS versions of [Boston Dynamics' protobufs](https://dev.bostondynamics.com/protos/bosdyn/api/proto_reference) that are used with the Spot SDK. +As it is very large, this is installed as a debian package as part of `install_spot_ros2.sh`. +It can be installed from source as a normal ROS package [here](https://github.com/bdaiinstitute/bosdyn_msgs) if desired instead. # Help @@ -295,8 +157,8 @@ pre-commit install pre-commit run --all-files ``` -Now whenever you commit code to this repository, it will be checked against our `pre-commit` hooks. You can also run -`git commit --no-verify` if you wish to commit without checking against the hooks. +Now whenever you commit code to this repository, it will be checked against our `pre-commit` hooks. +You can also run `git commit --no-verify` if you wish to commit without checking against the hooks. ## Contributors @@ -310,7 +172,7 @@ MASKOR contributors: * Stefan Schiffer * Alexander Ferrein -Boston Dynamics AI Institute contributors: +AI Institute contributors: * Jenny Barry * Daniel Gonzalez @@ -318,6 +180,8 @@ Boston Dynamics AI Institute contributors: * David Surovik * Jiuguang Wang * David Watkins +* Tiffany Cappellari +* Katie Hughes [Linköping University](https://liu.se/en/organisation/liu/ida) contributors: diff --git a/spot_driver/EyeInHandCalibration.md b/spot_driver/EyeInHandCalibration.md new file mode 100644 index 000000000..a02b31694 --- /dev/null +++ b/spot_driver/EyeInHandCalibration.md @@ -0,0 +1,86 @@ + +## Optional Automatic Eye-in-Hand Stereo Calibration Routine for Manipulator (Arm) Payload +#### Collect Calibration +An optional custom Automatic Eye-in-Hand Stereo Calibration Routine for the arm is available for use in the ```spot_wrapper``` submodule, where the +output results can be used with ROS 2 for improved Depth to RGB correspondence for the hand cameras. +See the readme at [```/spot_wrapper/spot_wrapper/calibration/README.md```](https://github.com/bdaiinstitute/spot_wrapper/tree/main/spot_wrapper/calibration/README.md) for +target setup and relevant information. + +First, collect a calibration with ```spot_wrapper/spot_wrapper/calibrate_spot_hand_camera_cli.py```. +Make sure to use the default ```--stereo_pairs``` configuration, and the default tag configuration (```--tag default```). + +For the robot and target setup described in [```/spot_wrapper/spot_wrapper/calibration/README.md```](https://github.com/bdaiinstitute/spot_wrapper/tree/main/spot_wrapper/calibration/README.md), the default viewpoint ranges should suffice. + +``` +python3 spot_wrapper/spot_wrapper/calibrate_spot_hand_camera_cli.py --ip -u user -pw --data_path ~/my_collection/ \ +--save_data --result_path ~/my_collection/calibrated.yaml --photo_utilization_ratio 1 --stereo_pairs "[(1,0)]" \ +--spot_rgb_photo_width=640 --spot_rgb_photo_height=480 --tag default --legacy_charuco_pattern True +``` + +Then, you can run a publisher to transform the depth image into the rgb images frame with the same image +dimensions, so that finding the 3D location of a feature found in rgb can be as easy as passing +the image feature pixel coordinates to the registered depth image, and extracting the 3D location. +For all possible command line arguments, run ```ros2 run spot_driver calibated_reregistered_hand_camera_depth_publisher.py -h``` + +#### Run the Calibrated Re-Publisher +``` +ros2 run spot_driver calibrated_reregistered_hand_camera_depth_publisher.py --tag=default --calibration_path --robot_name --topic_name /depth_registered/hand_custom_cal/image +``` + +You can treat the reregistered topic, (in the above example, ```/depth_registered/hand_custom_cal/image```) +as a drop in replacement by the registered image published by the default spot driver +(```/depth_registered/hand/image```). The registered depth can be easily used in tools +like downstream, like Open3d, (see [creating RGBD Images](https://www.open3d.org/docs/release/python_api/open3d.geometry.RGBDImage.html) and [creating color point clouds from RGBD Images](https://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html#open3d.geometry.PointCloud.create_from_rgbd_image)), due to matching image dimensions and registration +to a shared frame. + +#### Comparing Calibration Results Quick Sanity Check +You can compare the new calibration to the old calibration through comparing visualizing +the colored point cloud from a bag in RViz. See RViz setup below the bagging instructions. + + +First, collect a bag where there is a an object of a clearly different color in the foreground then +that of the background. + +``` +ROBOT_NAME= && \ +ros2 bag record --output drop_in_test --topics /tf /tf_static \ +/${ROBOT_NAME}/depth/hand/image /${ROBOT_NAME}/camera/hand/camera_info \ +/${ROBOT_NAME}/joint_states /${ROBOT_NAME}/camera/hand/image \ +/${ROBOT_NAME}/depth_registered/hand/image +``` + +To see what the default calibration looks like: +``` +# In seperate terminals + +ros2 bag play drop_in_test --loop +ROBOT_NAME= && \ +ros2 launch spot_driver point_cloud_xyzrgb.launch.py spot_name:=${ROBOT_NAME} camera:=hand +``` + +To see what the new calibration looks like: +``` +# In seperate terminals +ROBOT_NAME= && \ +ros2 bag play drop_in_test --loop --topics /${ROBOT_NAME}/depth/hand/image \ +/${ROBOT_NAME}/camera/hand/camera_info /${ROBOT_NAME}/joint_states \ +/${ROBOT_NAME}/camera/hand/image /tf /tf_static + +ROBOT_NAME= && \ +CALIBRATION_PATH= && \ +ros2 run spot_driver calibrated_reregistered_hand_camera_depth_publisher.py --robot_name ${ROBOT_NAME} \ +--calibration_path ${CALIBRATION_PATH} --topic depth_registered/hand/image + +ROBOT_NAME= && \ +ros2 launch spot_driver point_cloud_xyzrgb.launch.py spot_name:=${ROBOT_NAME} camera:=hand +``` + +#### RVIZ Setup for Sanity Check: +Set global frame to be ```//hand``` + +Add (bottom left) -> by topic -> +```//depth_registered/hand/points``` -> ok + +On the left pane, expand the PointCloud2 message. Expand Topic. Set History +Policy to be Keep Last, Reliability Policy to be Best Effort, and Durability policy to be +Volatile (select these from the dropdowns). diff --git a/spot_driver/README.md b/spot_driver/README.md index 8d0cb5690..5fd8495cf 100644 --- a/spot_driver/README.md +++ b/spot_driver/README.md @@ -1,17 +1,69 @@ # spot_driver -This package provides the central ROS 2 interface to interact with Spot. +The Spot driver contains all of the necessary topics, services, and actions for controlling Spot over ROS 2. To launch the driver, run: +``` +ros2 launch spot_driver spot_driver.launch.py [config_file:=] [spot_name:=] [publish_point_clouds:=] [launch_rviz:=] [uncompress_images:=] [publish_compressed_images:=] +``` -The primary launchfile in this package is `spot_driver.launch.py`. Once you've built and sourced your workspace, launch it with: +## Configuration -`ros2 launch spot_driver spot_driver.launch.py` +The Spot login data hostname, username and password can be specified either as ROS parameters or as environment variables. If using ROS parameters, see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for an example of what your file could look like. If using environment variables, define `BOSDYN_CLIENT_USERNAME`, `BOSDYN_CLIENT_PASSWORD`, and `SPOT_IP`. -* Various driver parameters can be customized using a configuration file -- see [spot_ros_example.yaml](config/spot_ros_example.yaml) for reference. To launch the driver with a configuration file, add the launch argument `config_file:=path/to/config.yaml`. Note that you can specify the hostname, username, and password for login to the robot in this file, or they can alternatively be set in the environment variables `SPOT_IP`, `BOSDYN_CLIENT_USERNAME`, and `BOSDYN_CLIENT_PASSWORD`, respectively. -* To launch the process within a namespace, add the launch argument `spot_name:={name}` -* To visualize Spot in RViz, add the launch argument `launch_rviz:=True`. This will automatically generate the appropriate RViz config file for your robot's name using `rviz.launch.py`. -* To publish point clouds, add the launch argument `publish_point_clouds:=True`. This is disabled by default. +## Simple Robot Commands +Many simple robot commands can be called as services from the command line once the driver is running. For example: + +* `ros2 service call //sit std_srvs/srv/Trigger` +* `ros2 service call //stand std_srvs/srv/Trigger` +* `ros2 service call //undock std_srvs/srv/Trigger` +* `ros2 service call //power_off std_srvs/srv/Trigger` + +If your Spot has an arm, some additional helpful services are exposed: +* `ros2 service call //arm_stow std_srvs/srv/Trigger` +* `ros2 service call //arm_unstow std_srvs/srv/Trigger` +* `ros2 service call //arm_carry std_srvs/srv/Trigger` +* `ros2 service call //open_gripper std_srvs/srv/Trigger` +* `ros2 service call //close_gripper std_srvs/srv/Trigger` + +The full list of interfaces provided by the driver can be explored via `ros2 topic list`, `ros2 service list`, and `ros2 action list`. For more information about the custom message types used in this package, run `ros2 interface show `. + + +## Images +Perception data from Spot is handled through the `spot_image_publishers.launch.py` launchfile, which is launched by default from the driver. If you want to only view images from Spot, without bringing up any of the nodes to control the robot, you can also choose to run this launchfile independently. + +By default, the driver will publish RGB images as well as depth maps from the `frontleft`, `frontright`, `left`, `right`, and `back` cameras on Spot (plus `hand` if your Spot has an arm). You can customize the cameras that are streamed from by adding the `cameras_used` parameter to your config yaml. (For example, to stream from only the front left and front right cameras, you can add `cameras_used: ["frontleft", "frontright"]`). Additionally, if your Spot has greyscale cameras, you will need to set `rgb_cameras: False` in your configuration YAML file, or you will not receive any image data. + +By default, the driver does not publish point clouds. To enable this, launch the driver with `publish_point_clouds:=True`. + +The driver can publish both compressed images (under `//camera//compressed`) and uncompressed images (under `//camera//image`). By default, it will only publish the uncompressed images. You can turn (un)compressed images on/off by launching the driver with the flags `uncompress_images:=` and `publish_compressed_images:=`. + +The driver also has the option to publish a stitched image created from Spot's front left and front right cameras (similar to what is seen on the tablet). If you wish to enable this, launch the driver with `stitch_front_images:=True`, and the image will be published under `//camera/frontmiddle_virtual/image`. In order to receive meaningful stitched images, you will have to specify the parameters `virtual_camera_intrinsics`, `virtual_camera_projection_plane`, `virtual_camera_plane_distance`, and `stitched_image_row_padding` (see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for some default values). + +> **_NOTE:_** +If your image publishing rate is very slow, you can try +> - connecting to your robot via ethernet cable +> - exporting a custom DDS profile we have provided by running the following in the same terminal your driver will run in, or adding to your `.bashrc`: +> ``` +> export=FASTRTPS_DEFAULT_PROFILES_FILE=/custom_dds_profile.xml +> ``` + +## Spot CAM +Due to known issues with the Spot CAM, it is disabled by default. To enable publishing and usage over the driver, add the following command in your configuration YAML file: + `initialize_spot_cam: True` + +The Spot CAM payload has known issues with the SSL certification process in https. If you get the following errors: + +``` +non-existing PPS 0 referenced +decode_slice_header error +no frame! +``` + +Then you want to log into the Spot CAM over the browser. In your browser, type in: + + https://:/h264.sdp.html + +The default port for SDP is 31102 for the Spot CAM. Once inside, you will be prompted to log in using your username and password. Do so and the WebRTC frames should begin to properly stream. -The Spot driver contains both Python and C++ nodes. Spot's Python SDK is used for many operations. For example, `spot_ros2` is the primary node that connects with Spot and creates the ROS 2 action servers and services. Spot's C++ SDK is used in nodes like `spot_image_publisher_node` to retrieve images from Spot's RGB and depth cameras at close to their native refresh rate of 15 Hz -- something that is not possible using the Python SDK. ## Examples For some examples of using the Spot ROS 2 driver, check out [`spot_examples`](../spot_examples/). From 9690438012e2df9d75efebd03ccd09400ff0e4aa Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Thu, 19 Dec 2024 18:27:40 -0500 Subject: [PATCH 02/23] More revamp Signed-off-by: Katie Hughes --- README.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index f29e18624..dec07a496 100644 --- a/README.md +++ b/README.md @@ -22,12 +22,11 @@

# Overview -This repository contains a set of ROS 2 packages for interacting with Boston Dynamics' Spot. -It is derived from [the ROS 1 equivalent](https://github.com/heuristicus/spot_ros). +`spot_ros2` is a set of ROS 2 packages for interacting with Boston Dynamics' Spot, based off the [the ROS 1 equivalent](https://github.com/heuristicus/spot_ros). Currently, this repository corresponds to version 4.1.0 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.1.0). ## Requirements -This repository is supported for Ubuntu 22.04 and [ROS 2 Humble](https://docs.ros.org/en/humble/index.html) on both ARM64 and AMD64 platforms. +This repository is supported for use on Ubuntu 22.04 and [ROS 2 Humble](https://docs.ros.org/en/humble/index.html) on both ARM64 and AMD64 platforms. ## Installation Set up your ROS 2 workspace, and clone the repository in the `src` directory: @@ -60,7 +59,7 @@ source install/setup.bash Alternatively, a Dockerfile is available that prepares a ready-to-run ROS 2 Humble install with the Spot driver built. -The Docker image can be built and run with the following commands: +The Docker image can be built and minimally run with the following commands: ```bash cd /src/spot_ros2 docker build . -t spot_ros2 From c76b3f8bffe95359d6bd86be98f27842da20d681 Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Thu, 19 Dec 2024 18:50:20 -0500 Subject: [PATCH 03/23] more Signed-off-by: Katie Hughes --- README.md | 34 ++++++++++++++++------------------ 1 file changed, 16 insertions(+), 18 deletions(-) diff --git a/README.md b/README.md index dec07a496..9b859fac6 100644 --- a/README.md +++ b/README.md @@ -23,10 +23,11 @@ # Overview `spot_ros2` is a set of ROS 2 packages for interacting with Boston Dynamics' Spot, based off the [the ROS 1 equivalent](https://github.com/heuristicus/spot_ros). +Its core [`spot_driver`](spot_driver) package exposes topics, services, and actions necessary to control Spot and send state information (such as images) back to the user. Currently, this repository corresponds to version 4.1.0 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.1.0). ## Requirements -This repository is supported for use on Ubuntu 22.04 and [ROS 2 Humble](https://docs.ros.org/en/humble/index.html) on both ARM64 and AMD64 platforms. +This repository is supported for use with Ubuntu 22.04 and [ROS 2 Humble](https://docs.ros.org/en/humble/index.html) on both ARM64 and AMD64 platforms. ## Installation Set up your ROS 2 workspace, and clone the repository in the `src` directory: @@ -57,8 +58,7 @@ source install/setup.bash ### Alternative - Docker Image -Alternatively, a Dockerfile is available that prepares a ready-to-run ROS 2 Humble install with the Spot driver built. - +A Dockerfile is available that prepares a ready-to-run ROS 2 Humble install with the Spot driver built. The Docker image can be built and minimally run with the following commands: ```bash cd /src/spot_ros2 @@ -66,8 +66,7 @@ docker build . -t spot_ros2 docker run -it spot_ros2:latest ``` -The following flags may be useful for extra functionality when running the image: - +The following flags may be useful for extra functionality when running the image. | Flag | Use | | -------- | --------------- | | `--runtime nvidia` + `--gpus all` | Use the [NVIDIA Container Runtime](https://developer.nvidia.com/container-runtime) to run the container with GPU acceleration | @@ -79,19 +78,19 @@ The following flags may be useful for extra functionality when running the image This repo consists of a series of ROS 2 packages for usage with Spot. Further documentation on how each of these packages can be used can be found in their resepective README's. -* `spot_description`: contains the URDF of Spot and some simple launchfiles for visualization. -* `spot_driver`: Core driver for operating Spot. This contains all of the necessary topics, services, and actions for controlling Spot and receiving state information over ROS 2. -* `spot_examples`: Examples of how to control Spot via the Spot driver. -* `spot_msgs`: Custom messages, services, and interfaces relevant for operating Spot. +* [`spot_description`](spot_description): contains the URDF of Spot and some simple launchfiles for visualization. +* [`spot_driver`](spot_driver): Core driver for operating Spot. This contains all of the necessary topics, services, and actions for controlling Spot and receiving state information over ROS 2. +* [`spot_examples`](spot_examples): Examples of how to control Spot via the Spot driver. +* [`spot_msgs`](spot_msgs): Custom messages, services, and interfaces relevant for operating Spot. The following packages are used to enable joint level control of Spot via ROS 2 control. -* `spot_ros2_control`: Contains core launchfiles for bringing up Spot's ROS 2 control stack, and some examples of how to use this. -* `spot_hardware_interface`: Creates a ROS 2 control hardware interface plugin for operating Spot with the joint level API. -* `spot_controllers`: Holds some simple forwarding controller plugins useful for sending commands. +* [`spot_ros2_control`](spot_ros2_control): Contains core launchfiles for bringing up Spot's ROS 2 control stack, and some examples of how to use this. +* [`spot_hardware_interface`](spot_hardware_interface): Creates a ROS 2 control hardware interface plugin for operating Spot with the joint level API. +* [`spot_controllers`](spot_controllers): Holds some simple forwarding controller plugins useful for sending commands. This package also pulls in some relevant packages as submodules, listed below. -* `ros_utilities`: The AI Institute's convenience wrappers around ROS 2. -* `spot_wrapper`: A Python wrapper around the Spot SDK, shared as a common entry point with Spot's ROS 1 repo. +* [`ros_utilities`](https://github.com/bdaiinstitute/ros_utilities): The AI Institute's convenience wrappers around ROS 2. +* [`spot_wrapper`](https://github.com/bdaiinstitute/spot_wrapper): A Python wrapper around the Spot SDK, shared as a common entry point with Spot's ROS 1 repo. This repository also depends on the `bosdyn_msgs` ROS package. This package contains ROS versions of [Boston Dynamics' protobufs](https://dev.bostondynamics.com/protos/bosdyn/api/proto_reference) that are used with the Spot SDK. @@ -101,7 +100,7 @@ It can be installed from source as a normal ROS package [here](https://github.co # Help -If you encounter problems when using this repository, feel free to open an issue or PR. +If you encounter problems when using this repository, feel free to open an [issue](https://github.com/bdaiinstitute/spot_ros2/issues) or ask a question in the [discussions](https://github.com/bdaiinstitute/spot_ros2/discussions). ## Verify Package Versions If you encounter `ModuleNotFoundErrors` with `bosdyn` packages upon running the driver, it is likely that the necessary Boston Dynamics API packages did not get installed with `install_spot_ros2.sh`. To check this, you can run the following command. Note that all versions should be `4.1.0`. @@ -149,8 +148,7 @@ BSD3 license - parts of the code derived from the Clearpath Robotics ROS 1 drive To contribute, install `pre-commit` via pip, run `pre-commit install` and then run `pre-commit run --all-files` to verify that your code will pass inspection. ```bash -git clone https://github.com/bdaiinstitute/spot_ros2.git -cd spot_ros2 +cd /src/spot_ros2 pip3 install pre-commit pre-commit install pre-commit run --all-files @@ -161,7 +159,7 @@ You can also run `git commit --no-verify` if you wish to commit without checking ## Contributors -This project is a collaboration between the [Mobile Autonomous Systems & Cognitive Robotics Institute](https://maskor.fh-aachen.de/en/) (MASKOR) at [FH Aachen](https://www.fh-aachen.de/en/) and the [Boston Dynamics AI Institute](https://theaiinstitute.com/). +This project is a collaboration between the [Mobile Autonomous Systems & Cognitive Robotics Institute](https://maskor.fh-aachen.de/en/) (MASKOR) at [FH Aachen](https://www.fh-aachen.de/en/) and [The AI Institute](https://theaiinstitute.com/). MASKOR contributors: From 34af0fac857b7c58d7c2969e12e34a3dbf12bb03 Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Fri, 20 Dec 2024 11:48:21 -0500 Subject: [PATCH 04/23] New logo Signed-off-by: Katie Hughes --- README.md | 21 +++++++++++---------- spot.png | Bin 443005 -> 287882 bytes spot_driver/README.md | 3 +++ 3 files changed, 14 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index 9b859fac6..bc3f66990 100644 --- a/README.md +++ b/README.md @@ -42,7 +42,7 @@ git submodule init git submodule update ``` -Next, run the following script to install the necessary Boston Dynamics and ROS dependencies. +Next, run the following script to install the necessary Boston Dynamics packages (both Python and C++) and ROS dependencies. The install script takes the optional argument ```--arm64```; it otherwise defaults to an AMD64 install. ```bash ./install_spot_ros2.sh @@ -76,7 +76,8 @@ The following flags may be useful for extra functionality when running the image # Packages -This repo consists of a series of ROS 2 packages for usage with Spot. Further documentation on how each of these packages can be used can be found in their resepective README's. +This repository consists of a series of ROS 2 packages for usage with Spot. +Further documentation on how each of these packages can be used can be found in their resepective README's. * [`spot_description`](spot_description): contains the URDF of Spot and some simple launchfiles for visualization. * [`spot_driver`](spot_driver): Core driver for operating Spot. This contains all of the necessary topics, services, and actions for controlling Spot and receiving state information over ROS 2. @@ -88,7 +89,7 @@ The following packages are used to enable joint level control of Spot via ROS 2 * [`spot_hardware_interface`](spot_hardware_interface): Creates a ROS 2 control hardware interface plugin for operating Spot with the joint level API. * [`spot_controllers`](spot_controllers): Holds some simple forwarding controller plugins useful for sending commands. -This package also pulls in some relevant packages as submodules, listed below. +This package also pulls in the following packages as submodules: * [`ros_utilities`](https://github.com/bdaiinstitute/ros_utilities): The AI Institute's convenience wrappers around ROS 2. * [`spot_wrapper`](https://github.com/bdaiinstitute/spot_wrapper): A Python wrapper around the Spot SDK, shared as a common entry point with Spot's ROS 1 repo. @@ -100,7 +101,7 @@ It can be installed from source as a normal ROS package [here](https://github.co # Help -If you encounter problems when using this repository, feel free to open an [issue](https://github.com/bdaiinstitute/spot_ros2/issues) or ask a question in the [discussions](https://github.com/bdaiinstitute/spot_ros2/discussions). +If you encounter problems when using this repository, feel free to ask a question in the [discussions](https://github.com/bdaiinstitute/spot_ros2/discussions), or open an [issue](https://github.com/bdaiinstitute/spot_ros2/issues) describing the problem in context. ## Verify Package Versions If you encounter `ModuleNotFoundErrors` with `bosdyn` packages upon running the driver, it is likely that the necessary Boston Dynamics API packages did not get installed with `install_spot_ros2.sh`. To check this, you can run the following command. Note that all versions should be `4.1.0`. @@ -145,17 +146,17 @@ MIT license - parts of the code developed specifically for ROS 2. BSD3 license - parts of the code derived from the Clearpath Robotics ROS 1 driver. # Contributing -To contribute, install `pre-commit` via pip, run `pre-commit install` and then run `pre-commit run --all-files` to -verify that your code will pass inspection. +Code contributions are welcome in this repository! + +* Fork this repository, and follow the installation steps +* Install the pre-commit hooks: ```bash cd /src/spot_ros2 -pip3 install pre-commit +pip install pre-commit pre-commit install pre-commit run --all-files ``` - -Now whenever you commit code to this repository, it will be checked against our `pre-commit` hooks. -You can also run `git commit --no-verify` if you wish to commit without checking against the hooks. +* Make the intended changes, and open a pull request against this repository. You will need to fill out the [pull request template](pull_request_template.md) to specify what change is being made and why, and how it was tested. ## Contributors diff --git a/spot.png b/spot.png index 50e089c6b53281f1eac38c60f6129bdd7304476c..a784e2b4e501a1a047b6890b5ccbd68af073bbdb 100644 GIT binary patch literal 287882 zcmZsCWmH^U(r%F81a}J%oZ#+GaCdiicbCT99fEt~uE8xhjk~++WoF&G=AG}mKYE?j z-DmGpRlEGD1CW;$M})(L`|{-rqQox|#V=pJu73Ffb_)ab`3ptJ1?}er%t=vP2yA(T z*6;HRto<(yr!QaN(f;)T`;w7`{RPsPUP44r**)vD6SjqHNQ2Csq`AHG<$eXLDy5co zIfcFF&(a^)I;20Q%=7;F25?XrznA&2J)zp3Og-C$!6BgF@q%=)5t>Y_ zYss`;=u{*cyULr_c~jFKKf;GIFOGQ28d8kkN|KTv_Hl7gaMWDh(GJwyzinT}7p7*+ zv)X#pY0xo`RW5jHVht)Iht6UFy}<(nz9Yjx{^R0qs<8W14;N_idoJRs%{&Eq!ZA$m z8v&2~X#u7^T4|(?f4_K4)5I~WsYjJo*Ep?EDf~Z||9i8|x?1ZLxy(H!+ouCzXrxM= zac~{ZZliM)`gFow|M%8B;+Iiq7gI1>=cxJb2^#N+1Gzf?Luj8{ zO(DiLj@R^~UR20E4Cbo-n_K733#KtYrm>iko0Wfv`2Pub|yX+H4H!}FT_o3bMF4;^4b?s4P)zW;j*j5_mJGtsA1>~cm$b5Q>!{+SDg 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zTuH~nc_^Bp2`||_*rwORubJ++@~5N%dZVl3Kl?0e-L_{L+OHk&xqnY2U{XB?L30QH zf|CRY7$RE2-SFDo2wX1M*{gN_WJh0nM!i*BBmOpQK{|So2Ouor<6`URt z&!TJ^MVV}t`iPQ?9$|o&)VpXmr@=7cksTU|bK3hpIyx#5n8|tV&1P);Bjrm0$N#lq zSP^K94BsDidwF8drmUxVx|vaT1q5|S zBC+It<;8hOcr1c(Ry-nl@tkWy)oT7|_a}>cM8g8#dk-G8U3ke|eaE|lMOZ%F&~JZv z-BH4B&hNz44qra??80B{0&F)x0Na?fmE98E>I$<}= export=FASTRTPS_DEFAULT_PROFILES_FILE=/custom_dds_profile.xml > ``` +## Calibration +A calibration procedure for the hand camera is provided by this package. For more information on how to run this, refer to [EyeInHandCalibration.md](EyeInHandCalibration.md) + ## Spot CAM Due to known issues with the Spot CAM, it is disabled by default. To enable publishing and usage over the driver, add the following command in your configuration YAML file: `initialize_spot_cam: True` From 5fc11e8a9fc6876adf572c3b3184e273dea3352a Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Fri, 20 Dec 2024 11:53:04 -0500 Subject: [PATCH 05/23] Spot description delete something that refers to bdai Signed-off-by: Katie Hughes --- spot_description/README.md | 36 ------------------------------------ 1 file changed, 36 deletions(-) diff --git a/spot_description/README.md b/spot_description/README.md index de9fc754c..56348404e 100644 --- a/spot_description/README.md +++ b/spot_description/README.md @@ -44,42 +44,6 @@ For the arm, we use the following mass values: + `arm_link_wr1` = 0.785 Kg + `arm_link_fngr` = 0.200 Kg -To get these inertial properties, use the following method: - -``` -BdaiWorld.import_inertia_tensor = False - -sh_mass = 2.596 -fa_mass = 1.450 -hip_mass = 1.68 -uleg_mass = 2.34 -lleg_mass = 0.35 -desired_mass = { - "body_inertia": 32.86, - "fl_hip": hip_mass, - "fr_hip": hip_mass, - "hl_hip": hip_mass, - "hr_hip": hip_mass, - "fl_uleg": uleg_mass, - "fr_uleg": uleg_mass, - "hl_uleg": uleg_mass, - "hr_uleg": uleg_mass, - "fl_lleg": lleg_mass, - "fr_lleg": lleg_mass, - "hl_lleg": lleg_mass, - "hr_lleg": lleg_mass, - "arm_link_sh0": 0.9 * sh_mass, - "arm_link_sh1": 0.1 * sh_mass, - "arm_link_hr0": 1e-6, - "arm_link_el0": 0.5 * fa_mass, - "arm_link_el1": 0.5 * fa_mass, - "arm_link_wr0": 0.980, - "arm_link_wr1": 0.785, - "arm_link_fngr": 0.200 -} -print(world.get_urdf_inertial(use_diagonal_inertia=True, desired_mass=desired_mass)) -``` - ## ROS 2 Control The Spot URDF also has the option to be constructed with ROS 2 control tags, which uses the hardware interface plugin from the [`spot_hardware_interface`](../spot_hardware_interface) package. To get the plain URDF file containing these tags, run From dcf24555fe4ee5283dd78de849d931010836d94d Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Fri, 20 Dec 2024 13:14:59 -0500 Subject: [PATCH 06/23] Nit Signed-off-by: Katie Hughes --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index bc3f66990..1969cea1f 100644 --- a/README.md +++ b/README.md @@ -23,7 +23,7 @@ # Overview `spot_ros2` is a set of ROS 2 packages for interacting with Boston Dynamics' Spot, based off the [the ROS 1 equivalent](https://github.com/heuristicus/spot_ros). -Its core [`spot_driver`](spot_driver) package exposes topics, services, and actions necessary to control Spot and send state information (such as images) back to the user. +Its core [`spot_driver`](spot_driver) package exposes topics, services, and actions necessary to control Spot and receive state information (such as images). Currently, this repository corresponds to version 4.1.0 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.1.0). ## Requirements @@ -156,7 +156,7 @@ pip install pre-commit pre-commit install pre-commit run --all-files ``` -* Make the intended changes, and open a pull request against this repository. You will need to fill out the [pull request template](pull_request_template.md) to specify what change is being made and why, and how it was tested. +* Make the intended changes, and open a pull request against this repository. In the pull request description, you will need to specify what change is being made and why, and how it was tested. ## Contributors From 2dcedcd6a0b0b52bc84ab6d7046045c2acc38224 Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Fri, 20 Dec 2024 13:18:00 -0500 Subject: [PATCH 07/23] header Signed-off-by: Katie Hughes --- spot_driver/README.md | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/spot_driver/README.md b/spot_driver/README.md index 7b012b8fe..2d18a0b47 100644 --- a/spot_driver/README.md +++ b/spot_driver/README.md @@ -49,7 +49,11 @@ If your image publishing rate is very slow, you can try ## Calibration A calibration procedure for the hand camera is provided by this package. For more information on how to run this, refer to [EyeInHandCalibration.md](EyeInHandCalibration.md) -## Spot CAM + +

+

Spot CAM

+
+ Due to known issues with the Spot CAM, it is disabled by default. To enable publishing and usage over the driver, add the following command in your configuration YAML file: `initialize_spot_cam: True` @@ -67,6 +71,8 @@ Then you want to log into the Spot CAM over the browser. In your browser, type i The default port for SDP is 31102 for the Spot CAM. Once inside, you will be prompted to log in using your username and password. Do so and the WebRTC frames should begin to properly stream. +
+ ## Examples For some examples of using the Spot ROS 2 driver, check out [`spot_examples`](../spot_examples/). From 289df99a5708c55a68a42b8c3b6e0c203720b22f Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Fri, 20 Dec 2024 14:37:30 -0500 Subject: [PATCH 08/23] Add info about frames Signed-off-by: Katie Hughes --- spot_driver/README.md | 21 +++++++++++++++++---- 1 file changed, 17 insertions(+), 4 deletions(-) diff --git a/spot_driver/README.md b/spot_driver/README.md index 2d18a0b47..06a174077 100644 --- a/spot_driver/README.md +++ b/spot_driver/README.md @@ -1,13 +1,26 @@ # spot_driver -The Spot driver contains all of the necessary topics, services, and actions for controlling Spot over ROS 2. To launch the driver, run: +The Spot driver contains all of the necessary topics, services, and actions for controlling Spot over ROS 2. To launch the driver, run the following command, with the appropriate launch arguments and config file that are discussed below. ``` -ros2 launch spot_driver spot_driver.launch.py [config_file:=] [spot_name:=] [publish_point_clouds:=] [launch_rviz:=] [uncompress_images:=] [publish_compressed_images:=] +ros2 launch spot_driver spot_driver.launch.py ``` ## Configuration +The Spot login data hostname, username and password can be specified either as ROS parameters or as environment variables. If using ROS parameters, see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for an example of what your file could look like, and pass this to the driver as a launch argument with `config_file:=path/to/config.yaml`. If using environment variables, define `BOSDYN_CLIENT_USERNAME`, `BOSDYN_CLIENT_PASSWORD`, and `SPOT_IP`. -The Spot login data hostname, username and password can be specified either as ROS parameters or as environment variables. If using ROS parameters, see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for an example of what your file could look like. If using environment variables, define `BOSDYN_CLIENT_USERNAME`, `BOSDYN_CLIENT_PASSWORD`, and `SPOT_IP`. + +## Namespacing +By default, the driver is launched in the global namespace. +To avoid this, it is recommended to launch the driver with the launch argument `spot_name:=`. +This will place all of the nodes, topics, services, and actions provided by the driver in the `` namespace. +Additionally, it will prefix all of the TF frames and joints of the robot with ``. + +## Frames +Background information about Spot's frames from Boston Dynamics can be found [here](https://dev.bostondynamics.com/docs/concepts/geometry_and_frames). +By default, the Spot driver will place the "odom" frame as the root of the TF tree. +This can be changed by setting the `tf_root` parameter in your config file to either "vision" or "body". +The Spot driver will also publish odometry topics with respect to the "odom" frame by default. +If you wish to change this to "vision", update the `preferred_odom_frame` parameter in your config file. ## Simple Robot Commands Many simple robot commands can be called as services from the command line once the driver is running. For example: @@ -24,7 +37,7 @@ If your Spot has an arm, some additional helpful services are exposed: * `ros2 service call //open_gripper std_srvs/srv/Trigger` * `ros2 service call //close_gripper std_srvs/srv/Trigger` -The full list of interfaces provided by the driver can be explored via `ros2 topic list`, `ros2 service list`, and `ros2 action list`. For more information about the custom message types used in this package, run `ros2 interface show `. +The full list of interfaces provided by the driver can be explored via `ros2 topic list`, `ros2 service list`, and `ros2 action list`. For more information about the custom message types used in this package, run `ros2 interface show `. More details can also be found on the [spot_ros2 wiki](https://github.com/bdaiinstitute/spot_ros2/wiki/Spot-Driver-Available-Interfaces). ## Images From f3801894dfb6c799e13221a70516804598ddbbdb Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Thu, 9 Jan 2025 10:55:17 -0500 Subject: [PATCH 09/23] More nitpicking Signed-off-by: Katie Hughes --- Dockerfile | 2 +- README.md | 13 +++++++------ 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/Dockerfile b/Dockerfile index 067bb2b2e..6755bfd20 100644 --- a/Dockerfile +++ b/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 diff --git a/README.md b/README.md index 1969cea1f..44ab0048e 100644 --- a/README.md +++ b/README.md @@ -23,7 +23,7 @@ # Overview `spot_ros2` is a set of ROS 2 packages for interacting with Boston Dynamics' Spot, based off the [the ROS 1 equivalent](https://github.com/heuristicus/spot_ros). -Its core [`spot_driver`](spot_driver) package exposes topics, services, and actions necessary to control Spot and receive state information (such as images). +Its [`spot_driver`](spot_driver) package exposes topics, services, and actions necessary to control Spot and receive state information (such as images) and is designed to bridge the core functionality of the Spot SDK to ROS 2. Currently, this repository corresponds to version 4.1.0 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.1.0). ## Requirements @@ -35,7 +35,7 @@ Set up your ROS 2 workspace, and clone the repository in the `src` directory: mkdir -p /src && cd /src git clone https://github.com/bdaiinstitute/spot_ros2.git ``` -Then initialize and install the submodules. +Then, initialize and install the submodules. ```bash cd spot_ros2 git submodule init @@ -58,7 +58,7 @@ source install/setup.bash ### Alternative - Docker Image -A Dockerfile is available that prepares a ready-to-run ROS 2 Humble install with the Spot driver built. +Alternatively, a Dockerfile is available that prepares a ready-to-run ROS2 Humble install with the Spot driver installed. The Docker image can be built and minimally run with the following commands: ```bash cd /src/spot_ros2 @@ -77,7 +77,7 @@ The following flags may be useful for extra functionality when running the image # Packages This repository consists of a series of ROS 2 packages for usage with Spot. -Further documentation on how each of these packages can be used can be found in their resepective README's. +Further documentation on how each of these packages can be used can be found in their resepective READMEs. * [`spot_description`](spot_description): contains the URDF of Spot and some simple launchfiles for visualization. * [`spot_driver`](spot_driver): Core driver for operating Spot. This contains all of the necessary topics, services, and actions for controlling Spot and receiving state information over ROS 2. @@ -142,12 +142,13 @@ ii spot-cpp-sdk 4.1.0 amd64 Boston Dynamics Spot C++ SDK # License -MIT license - parts of the code developed specifically for ROS 2. -BSD3 license - parts of the code derived from the Clearpath Robotics ROS 1 driver. +This repository has the BSD3 license for the parts of the code derived from the Clearpath Robotics ROS 1 driver and the MIT license for the parts of the code developed specifically for ROS 2. # Contributing Code contributions are welcome in this repository! + +To contribute: * Fork this repository, and follow the installation steps * Install the pre-commit hooks: ```bash From 8661354a6048d93aa9c2f7c0aba656ee3024cb32 Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Thu, 9 Jan 2025 11:17:54 -0500 Subject: [PATCH 10/23] Nitpick the spot driver readme Signed-off-by: Katie Hughes --- README.md | 2 +- spot_driver/README.md | 11 ++++++----- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 44ab0048e..50b691be0 100644 --- a/README.md +++ b/README.md @@ -23,7 +23,7 @@ # Overview `spot_ros2` is a set of ROS 2 packages for interacting with Boston Dynamics' Spot, based off the [the ROS 1 equivalent](https://github.com/heuristicus/spot_ros). -Its [`spot_driver`](spot_driver) package exposes topics, services, and actions necessary to control Spot and receive state information (such as images) and is designed to bridge the core functionality of the Spot SDK to ROS 2. +Its [`spot_driver`](spot_driver) package is designed to bridge the core functionality of the Spot SDK to ROS 2, and exposes topics, services, and actions necessary to control Spot and receive state information (such as images). Currently, this repository corresponds to version 4.1.0 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.1.0). ## Requirements diff --git a/spot_driver/README.md b/spot_driver/README.md index 06a174077..e81bd867b 100644 --- a/spot_driver/README.md +++ b/spot_driver/README.md @@ -1,14 +1,13 @@ # spot_driver -The Spot driver contains all of the necessary topics, services, and actions for controlling Spot over ROS 2. To launch the driver, run the following command, with the appropriate launch arguments and config file that are discussed below. +The Spot driver contains all of the necessary topics, services, and actions for controlling Spot over ROS 2. To launch the driver, run the following command, with the appropriate launch arguments and/or config file that are discussed below. ``` -ros2 launch spot_driver spot_driver.launch.py +ros2 launch spot_driver spot_driver.launch.py [config_file:=] [spot_name:=] [launch_rviz:=] [launch_image_publishers:=] [publish_point_clouds:=] [uncompress_images:=] [publish_compressed_images:=] [stitch_front_images:=] ``` ## Configuration The Spot login data hostname, username and password can be specified either as ROS parameters or as environment variables. If using ROS parameters, see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for an example of what your file could look like, and pass this to the driver as a launch argument with `config_file:=path/to/config.yaml`. If using environment variables, define `BOSDYN_CLIENT_USERNAME`, `BOSDYN_CLIENT_PASSWORD`, and `SPOT_IP`. - ## Namespacing By default, the driver is launched in the global namespace. To avoid this, it is recommended to launch the driver with the launch argument `spot_name:=`. @@ -28,7 +27,6 @@ Many simple robot commands can be called as services from the command line once * `ros2 service call //sit std_srvs/srv/Trigger` * `ros2 service call //stand std_srvs/srv/Trigger` * `ros2 service call //undock std_srvs/srv/Trigger` -* `ros2 service call //power_off std_srvs/srv/Trigger` If your Spot has an arm, some additional helpful services are exposed: * `ros2 service call //arm_stow std_srvs/srv/Trigger` @@ -37,7 +35,10 @@ If your Spot has an arm, some additional helpful services are exposed: * `ros2 service call //open_gripper std_srvs/srv/Trigger` * `ros2 service call //close_gripper std_srvs/srv/Trigger` -The full list of interfaces provided by the driver can be explored via `ros2 topic list`, `ros2 service list`, and `ros2 action list`. For more information about the custom message types used in this package, run `ros2 interface show `. More details can also be found on the [spot_ros2 wiki](https://github.com/bdaiinstitute/spot_ros2/wiki/Spot-Driver-Available-Interfaces). +## More Complex Robot Commands +The full list of interfaces provided by the driver can be explored via `ros2 topic list`, `ros2 service list`, and `ros2 action list`. +For more information about the custom message types used in this package, run `ros2 interface show `. +More details can also be found on the [`spot_ros2` wiki](https://github.com/bdaiinstitute/spot_ros2/wiki/Spot-Driver-Available-Interfaces). ## Images From a80b339a35e73d40292bd6262ab2c145f4c1b292 Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Thu, 9 Jan 2025 16:47:11 -0500 Subject: [PATCH 11/23] Title nit Signed-off-by: Katie Hughes --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 50b691be0..330aeab05 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@

-

Spot ROS 2 Driver

+

Spot ROS 2

Commits

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[SW-1712]: https://theaiinstitute.atlassian.net/browse/SW-1712?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ Signed-off-by: Katie Hughes --- ros_utilities | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros_utilities b/ros_utilities index ef5ee6297..6d3c8f3e2 160000 --- a/ros_utilities +++ b/ros_utilities @@ -1 +1 @@ -Subproject commit ef5ee6297a0ff23283cd208e06fd583868161e4c +Subproject commit 6d3c8f3e201cdfb184c6d30067e85e1964ba7919 From 8e9d48d3596e89b50d0e138ff1323b4c5f3f7792 Mon Sep 17 00:00:00 2001 From: Katie Hughes <157421702+khughes-bdai@users.noreply.github.com> Date: Mon, 13 Jan 2025 12:47:31 -0500 Subject: [PATCH 18/23] [N/A] revert update_sigterm_sigkill_timeouts (#553) ## Change Overview Reverts the calls to `update_sigterm_sigkill_timeout` introduced in https://github.com/bdaiinstitute/spot_ros2/pull/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 --- spot_driver/launch/point_cloud_xyz.launch.py | 2 -- spot_driver/launch/point_cloud_xyzrgb.launch.py | 2 -- spot_driver/launch/rviz.launch.py | 2 -- spot_driver/launch/spot_driver.launch.py | 3 +-- spot_driver/launch/spot_image_publishers.launch.py | 2 -- spot_ros2_control/launch/spot_ros2_control.launch.py | 3 +-- 6 files changed, 2 insertions(+), 12 deletions(-) diff --git a/spot_driver/launch/point_cloud_xyz.launch.py b/spot_driver/launch/point_cloud_xyz.launch.py index 813ac687b..57f2173e9 100644 --- a/spot_driver/launch/point_cloud_xyz.launch.py +++ b/spot_driver/launch/point_cloud_xyz.launch.py @@ -36,7 +36,6 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration, PathJoinSubstitution -from synchros2.launch.actions import update_sigterm_sigkill_timeout def generate_launch_description() -> LaunchDescription: @@ -74,5 +73,4 @@ def generate_launch_description() -> LaunchDescription: ), ] ) - update_sigterm_sigkill_timeout(ld) return ld diff --git a/spot_driver/launch/point_cloud_xyzrgb.launch.py b/spot_driver/launch/point_cloud_xyzrgb.launch.py index 32794ecae..8fbf2f725 100644 --- a/spot_driver/launch/point_cloud_xyzrgb.launch.py +++ b/spot_driver/launch/point_cloud_xyzrgb.launch.py @@ -36,7 +36,6 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration, PathJoinSubstitution -from synchros2.launch.actions import update_sigterm_sigkill_timeout def generate_launch_description() -> LaunchDescription: @@ -77,5 +76,4 @@ def generate_launch_description() -> LaunchDescription: ), ] ) - update_sigterm_sigkill_timeout(ld) return ld diff --git a/spot_driver/launch/rviz.launch.py b/spot_driver/launch/rviz.launch.py index 51dda9849..8d2b92a94 100644 --- a/spot_driver/launch/rviz.launch.py +++ b/spot_driver/launch/rviz.launch.py @@ -13,7 +13,6 @@ PathJoinSubstitution, ) from launch_ros.substitutions import FindPackageShare -from synchros2.launch.actions import update_sigterm_sigkill_timeout THIS_PACKAGE = "spot_driver" @@ -44,7 +43,6 @@ def create_rviz_config(robot_name: str) -> None: def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None: - update_sigterm_sigkill_timeout(ld) rviz_config_file = LaunchConfiguration("rviz_config_file").perform(context) spot_name = LaunchConfiguration("spot_name").perform(context) diff --git a/spot_driver/launch/spot_driver.launch.py b/spot_driver/launch/spot_driver.launch.py index 42250bc3f..ef64b92db 100644 --- a/spot_driver/launch/spot_driver.launch.py +++ b/spot_driver/launch/spot_driver.launch.py @@ -9,7 +9,7 @@ from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution, TextSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare -from synchros2.launch.actions import DeclareBooleanLaunchArgument, update_sigterm_sigkill_timeout +from synchros2.launch.actions import DeclareBooleanLaunchArgument from spot_driver.launch.spot_launch_helpers import IMAGE_PUBLISHER_ARGS, declare_image_publisher_args, spot_has_arm @@ -17,7 +17,6 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None: - update_sigterm_sigkill_timeout(ld) config_file = LaunchConfiguration("config_file") launch_rviz = LaunchConfiguration("launch_rviz") rviz_config_file = LaunchConfiguration("rviz_config_file").perform(context) diff --git a/spot_driver/launch/spot_image_publishers.launch.py b/spot_driver/launch/spot_image_publishers.launch.py index 6c81eb203..46b822d7f 100644 --- a/spot_driver/launch/spot_image_publishers.launch.py +++ b/spot_driver/launch/spot_image_publishers.launch.py @@ -9,7 +9,6 @@ from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch.conditions import IfCondition from launch.substitutions import LaunchConfiguration, PathJoinSubstitution -from synchros2.launch.actions import update_sigterm_sigkill_timeout from spot_driver.launch.spot_launch_helpers import ( DepthRegisteredMode, @@ -92,7 +91,6 @@ def create_point_cloud_nodelets( def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None: - update_sigterm_sigkill_timeout(ld) config_file = LaunchConfiguration("config_file") spot_name = LaunchConfiguration("spot_name").perform(context) depth_registered_mode_config = LaunchConfiguration("depth_registered_mode") diff --git a/spot_ros2_control/launch/spot_ros2_control.launch.py b/spot_ros2_control/launch/spot_ros2_control.launch.py index 923ab2767..0d55148a4 100644 --- a/spot_ros2_control/launch/spot_ros2_control.launch.py +++ b/spot_ros2_control/launch/spot_ros2_control.launch.py @@ -16,7 +16,7 @@ ) from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare -from synchros2.launch.actions import DeclareBooleanLaunchArgument, update_sigterm_sigkill_timeout +from synchros2.launch.actions import DeclareBooleanLaunchArgument from spot_driver.launch.spot_launch_helpers import ( IMAGE_PUBLISHER_ARGS, @@ -301,6 +301,5 @@ def generate_launch_description(): + declare_image_publisher_args() ) # Add nodes to launch description - update_sigterm_sigkill_timeout(ld) ld.add_action(OpaqueFunction(function=launch_setup, args=[ld])) return ld From 081d8262281ff4ce6344f8c34beb9acb63a9a1f2 Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Tue, 14 Jan 2025 10:33:40 -0500 Subject: [PATCH 19/23] Add command to launch the driver in the top level readme Signed-off-by: Katie Hughes --- README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/README.md b/README.md index 330aeab05..18f40d9fd 100644 --- a/README.md +++ b/README.md @@ -81,6 +81,10 @@ Further documentation on how each of these packages can be used can be found in * [`spot_description`](spot_description): contains the URDF of Spot and some simple launchfiles for visualization. * [`spot_driver`](spot_driver): Core driver for operating Spot. This contains all of the necessary topics, services, and actions for controlling Spot and receiving state information over ROS 2. + * The driver can be launched via the following command after building and sourcing your workspace. More details can be found on the [`spot_driver` README](spot_driver/README.md). + ``` + ros2 launch spot_driver spot_driver.launch.py [config_file:=] [spot_name:=] [launch_rviz:=] [launch_image_publishers:=] [publish_point_clouds:=] [uncompress_images:=] [publish_compressed_images:=] [stitch_front_images:=] + ``` * [`spot_examples`](spot_examples): Examples of how to control Spot via the Spot driver. * [`spot_msgs`](spot_msgs): Custom messages, services, and interfaces relevant for operating Spot. From fa83c8014692a838b4a0739d04f8294c251da9f0 Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Tue, 14 Jan 2025 14:08:14 -0500 Subject: [PATCH 20/23] be more consistent about spacing Signed-off-by: Katie Hughes --- spot_driver/README.md | 25 ++++++++++++++++++------- 1 file changed, 18 insertions(+), 7 deletions(-) diff --git a/spot_driver/README.md b/spot_driver/README.md index e81bd867b..0828634ec 100644 --- a/spot_driver/README.md +++ b/spot_driver/README.md @@ -1,12 +1,15 @@ # spot_driver -The Spot driver contains all of the necessary topics, services, and actions for controlling Spot over ROS 2. To launch the driver, run the following command, with the appropriate launch arguments and/or config file that are discussed below. +The Spot driver contains all of the necessary topics, services, and actions for controlling Spot over ROS 2. +To launch the driver, run the following command, with the appropriate launch arguments and/or config file that are discussed below. ``` ros2 launch spot_driver spot_driver.launch.py [config_file:=] [spot_name:=] [launch_rviz:=] [launch_image_publishers:=] [publish_point_clouds:=] [uncompress_images:=] [publish_compressed_images:=] [stitch_front_images:=] ``` ## Configuration -The Spot login data hostname, username and password can be specified either as ROS parameters or as environment variables. If using ROS parameters, see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for an example of what your file could look like, and pass this to the driver as a launch argument with `config_file:=path/to/config.yaml`. If using environment variables, define `BOSDYN_CLIENT_USERNAME`, `BOSDYN_CLIENT_PASSWORD`, and `SPOT_IP`. +The Spot login data hostname, username and password can be specified either as ROS parameters or as environment variables. +If using ROS parameters, see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for an example of what your file could look like, and pass this to the driver as a launch argument with `config_file:=path/to/config.yaml`. +If using environment variables, define `BOSDYN_CLIENT_USERNAME`, `BOSDYN_CLIENT_PASSWORD`, and `SPOT_IP`. ## Namespacing By default, the driver is launched in the global namespace. @@ -42,15 +45,23 @@ More details can also be found on the [`spot_ros2` wiki](https://github.com/bdai ## Images -Perception data from Spot is handled through the `spot_image_publishers.launch.py` launchfile, which is launched by default from the driver. If you want to only view images from Spot, without bringing up any of the nodes to control the robot, you can also choose to run this launchfile independently. +Perception data from Spot is handled through the `spot_image_publishers.launch.py` launchfile, which is launched by default from the driver. +If you want to only view images from Spot, without bringing up any of the nodes to control the robot, you can also choose to run this launchfile independently. -By default, the driver will publish RGB images as well as depth maps from the `frontleft`, `frontright`, `left`, `right`, and `back` cameras on Spot (plus `hand` if your Spot has an arm). You can customize the cameras that are streamed from by adding the `cameras_used` parameter to your config yaml. (For example, to stream from only the front left and front right cameras, you can add `cameras_used: ["frontleft", "frontright"]`). Additionally, if your Spot has greyscale cameras, you will need to set `rgb_cameras: False` in your configuration YAML file, or you will not receive any image data. +By default, the driver will publish RGB images as well as depth maps from the `frontleft`, `frontright`, `left`, `right`, and `back` cameras on Spot (plus `hand` if your Spot has an arm). +You can customize the cameras that are streamed from by adding the `cameras_used` parameter to your config yaml. (For example, to stream from only the front left and front right cameras, you can add `cameras_used: ["frontleft", "frontright"]`). +Additionally, if your Spot has greyscale cameras, you will need to set `rgb_cameras: False` in your configuration YAML file, or you will not receive any image data. -By default, the driver does not publish point clouds. To enable this, launch the driver with `publish_point_clouds:=True`. +By default, the driver does not publish point clouds. +To enable this, launch the driver with `publish_point_clouds:=True`. -The driver can publish both compressed images (under `//camera//compressed`) and uncompressed images (under `//camera//image`). By default, it will only publish the uncompressed images. You can turn (un)compressed images on/off by launching the driver with the flags `uncompress_images:=` and `publish_compressed_images:=`. +The driver can publish both compressed images (under `//camera//compressed`) and uncompressed images (under `//camera//image`). +By default, it will only publish the uncompressed images. +You can turn (un)compressed images on/off by launching the driver with the flags `uncompress_images:=` and `publish_compressed_images:=`. -The driver also has the option to publish a stitched image created from Spot's front left and front right cameras (similar to what is seen on the tablet). If you wish to enable this, launch the driver with `stitch_front_images:=True`, and the image will be published under `//camera/frontmiddle_virtual/image`. In order to receive meaningful stitched images, you will have to specify the parameters `virtual_camera_intrinsics`, `virtual_camera_projection_plane`, `virtual_camera_plane_distance`, and `stitched_image_row_padding` (see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for some default values). +The driver also has the option to publish a stitched image created from Spot's front left and front right cameras (similar to what is seen on the tablet). +If you wish to enable this, launch the driver with `stitch_front_images:=True`, and the image will be published under `//camera/frontmiddle_virtual/image`. +In order to receive meaningful stitched images, you will have to specify the parameters `virtual_camera_intrinsics`, `virtual_camera_projection_plane`, `virtual_camera_plane_distance`, and `stitched_image_row_padding` (see [`spot_driver/config/spot_ros_example.yaml`](spot_driver/config/spot_ros_example.yaml) for some default values). > **_NOTE:_** If your image publishing rate is very slow, you can try From 7d4cd827e1ee73a683817076af9a93af9972d1db Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Tue, 14 Jan 2025 14:13:18 -0500 Subject: [PATCH 21/23] Contributors Signed-off-by: Katie Hughes --- README.md | 1 + spot_wrapper | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 18f40d9fd..ef0bf22ab 100644 --- a/README.md +++ b/README.md @@ -183,6 +183,7 @@ AI Institute contributors: * David Surovik * Jiuguang Wang * David Watkins +* Andrew Messing * Tiffany Cappellari * Katie Hughes diff --git a/spot_wrapper b/spot_wrapper index 3b5fd5aaa..c78ebfb12 160000 --- a/spot_wrapper +++ b/spot_wrapper @@ -1 +1 @@ -Subproject commit 3b5fd5aaa7b851267bf4ad70ad09861f7162ae0b +Subproject commit c78ebfb1236921c820fe27ae70fd58d4f2257a16 From f4399557de9ec7c760d11f5e9e257a73a29c278c Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Tue, 14 Jan 2025 14:20:55 -0500 Subject: [PATCH 22/23] revert spot wrapper change Signed-off-by: Katie Hughes --- spot_wrapper | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/spot_wrapper b/spot_wrapper index c78ebfb12..3b5fd5aaa 160000 --- a/spot_wrapper +++ b/spot_wrapper @@ -1 +1 @@ -Subproject commit c78ebfb1236921c820fe27ae70fd58d4f2257a16 +Subproject commit 3b5fd5aaa7b851267bf4ad70ad09861f7162ae0b From 11da3c7a579a92af16e9e002c6e1d0635931319a Mon Sep 17 00:00:00 2001 From: Katie Hughes Date: Tue, 14 Jan 2025 15:05:23 -0500 Subject: [PATCH 23/23] Spot_msgs cleanup Signed-off-by: Katie Hughes --- spot_msgs/README.md | 122 +------------------------------------------- 1 file changed, 2 insertions(+), 120 deletions(-) diff --git a/spot_msgs/README.md b/spot_msgs/README.md index 1e6c734fc..2b52d4745 100644 --- a/spot_msgs/README.md +++ b/spot_msgs/README.md @@ -1,123 +1,5 @@ # spot_msgs -## How to build `.deb` +`spot_msgs` is a ROS 2 package containing interfaces useful for interacting with the `spot_driver`. -(Largely borrowed from [here](https://gist.github.com/awesomebytes/196eab972a94dd8fcdd69adfe3bd1152)) - -### Get dependencies -You may need the latest pip, follow the [official instructions](https://pip.pypa.io/en/stable/installing/). - -Install [bloom](http://ros-infrastructure.github.io/bloom/): - -```bash -sudo pip install -U bloom -``` - -Install fakeroot: - -```bash -sudo apt-get install fakeroot -``` - -### Deal with rosdep -Bloom won't create a package that depends on something `rosdep` can't find. Until `bosdyn_msgs` is distributed, we need to trick `rosdep` into thinking it exists: -1. Clone `https://github.com/ros/rosdistro` -2. Change `rosdep/base.yaml` to just list an empty target for `bosdyn_msgs`: - -```bash -bosdyn_msgs: - ubuntu: [] -``` -3. Add a file `/etc/ros/rosdep/sources.list.d/8-local.list` with the entry: - -```bash -yaml file:/// -``` - -4. Run `rosdep update` and make sure it can resolve the `bosdyn_msgs` key: - -```bash -rosdep update -rosdep resolve bosdyn_msgs -``` - -### Get ready - -To make a debian folder structure from the ROS package you must cd into -the package to be in the same folder where `package.xml` file is. - -### Create debian structure - -```bash -bloom-generate rosdebian --os-name ubuntu --os-version jammy --ros-distro humble -``` - -You can also let the tool guess some stuff: -```bash -bloom-generate rosdebian --ros-distro humble -``` - -You'll get something like this: - -```bash -$ bloom-generate rosdebian --os-name ubuntu --os-version jammy --ros-distro humble -/usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: is an invalid version and will not be supported in a future release - warnings.warn( -/usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: is an invalid version and will not be supported in a future release - warnings.warn( -ROS Distro index file associate with commit 'e7ba7d4d4fa7ad70260b34fb0e03f4b96e6f62bb' -New ROS Distro index url: 'https://raw.githubusercontent.com/ros/rosdistro/e7ba7d4d4fa7ad70260b34fb0e03f4b96e6f62bb/index-v4.yaml' -==> Generating debs for ubuntu:jammy for package(s) ['spot_msgs'] -No homepage set, defaulting to '' -No historical releaser history, using current maintainer name and email for each versioned changelog entry. -No CHANGELOG.rst found for package 'spot_msgs' -Package 'spot-msgs' has dependencies: -Run Dependencies: - rosdep key => jammy key - rosidl_default_runtime => ['ros-humble-rosidl-default-runtime'] -Build and Build Tool Dependencies: - rosdep key => jammy key - builtin_interfaces => ['ros-humble-builtin-interfaces'] - common_interfaces => ['ros-humble-common-interfaces'] - std_msgs => ['ros-humble-std-msgs'] - sensor_msgs => ['ros-humble-sensor-msgs'] - ament_cmake => ['ros-humble-ament-cmake'] - rosidl_default_generators => ['ros-humble-rosidl-default-generators'] -==> Placing templates files in the 'debian' folder. -==> In place processing templates in 'debian' folder. -Expanding 'debian/rules.em' -> 'debian/rules' -Expanding 'debian/compat.em' -> 'debian/compat' -Expanding 'debian/changelog.em' -> 'debian/changelog' -Expanding 'debian/copyright.em' -> 'debian/copyright' -Expanding 'debian/control.em' -> 'debian/control' -Expanding 'debian/source/format.em' -> 'debian/source/format' -Expanding 'debian/source/options.em' -> 'debian/source/options' - -``` - -### Create binary debian - -Having sourced the necessary dependencies (most probably `source /opt/ros/humble/setup.bash`) execute: - -```bash -fakeroot debian/rules binary -``` - -If you get the error: -```bash -dh: Command not found -``` -You need to install: -```bash -sudo apt-get install dpkg-dev debhelper -``` - -In the end you'll get a line like: - -``` -dpkg-deb: building package 'ros-humble-spot-msgs' in '../ros-humble-spot-msgs_0.0.0-0jammy_amd64.deb'. -``` - -### Upload debian to GitHub - -You should now have a `.deb` file containing the `spot_msgs` package. You need to upload that as a release to GitHub [here](https://docs.github.com/en/repositories/releasing-projects-on-github/managing-releases-in-a-repository). Please increment the version of the release. At some point we may consider automating this process but we don't have a formalized way of doing these precompilations yet. +It builds on top of the [`bosdyn_msgs`](https://github.com/bdaiinstitute/bosdyn_msgs) package, which contains autogenerated ROS messages from Spot SDK Protobuf messages.

From dc104e400779fdf3cecc8d9c0be9c52c75cdeded Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Fri, 3 Jan 2025 10:35:11 -0500 Subject: [PATCH 12/23] [dependabot] Bump ros_utilities from `539c962` to `ef5ee62` (#543) Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Signed-off-by: Katie Hughes --- ros_utilities | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ros_utilities b/ros_utilities index 539c962f4..ef5ee6297 160000 --- a/ros_utilities +++ b/ros_utilities @@ -1 +1 @@ -Subproject commit 539c962f42b51cd4206be3f0348b5984384f0cd2 +Subproject commit ef5ee6297a0ff23283cd208e06fd583868161e4c From ccd2189f9e2067872a3a5ade66783438309dd916 Mon Sep 17 00:00:00 2001 From: Manuel Schweiger <58733365+mschweig@users.noreply.github.com> Date: Tue, 7 Jan 2025 22:04:09 +0100 Subject: [PATCH 13/23] Fixes TimeSync with robot (#544) Signed-off-by: Manuel Schweiger Signed-off-by: Katie Hughes --- spot_driver/src/api/default_time_sync_api.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/spot_driver/src/api/default_time_sync_api.cpp b/spot_driver/src/api/default_time_sync_api.cpp index ebfb48335..c52f35cce 100644 --- a/spot_driver/src/api/default_time_sync_api.cpp +++ b/spot_driver/src/api/default_time_sync_api.cpp @@ -1,5 +1,6 @@ // Copyright (c) 2023-2024 Boston Dynamics AI Institute LLC. All rights reserved. +#include #include #include @@ -12,6 +13,9 @@ tl::expected DefaultTimeSyncApi::getClo if (!time_sync_thread_) { return tl::make_unexpected("Time sync thread was not initialized."); } + if (!time_sync_thread_->WaitForSync(std::chrono::seconds(5))) { + return tl::make_unexpected("Failed to establish time sync before timing out."); + } if (!time_sync_thread_->HasEstablishedTimeSync()) { return tl::make_unexpected("Time sync not yet established between Spot and the local system."); } From 3d89ae4df36805f8ae96e86deb6b2230e12ae7ba Mon Sep 17 00:00:00 2001 From: Ben Axelrod Date: Wed, 8 Jan 2025 15:11:30 -0500 Subject: [PATCH 14/23] [SW-1712] Pin ubuntu version in workflows (#545) ## 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 --- .github/workflows/ci.yml | 6 +++--- .github/workflows/maintenance.yml | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index f3cfe8d92..baefd11fe 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -30,7 +30,7 @@ concurrency: jobs: lint: name: Lint spot_ros2 packages - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 strategy: matrix: config: @@ -47,7 +47,7 @@ jobs: uses: pre-commit/action@v3.0.1 prepare_container: name: Prepare Humble container for tests - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 needs: lint permissions: contents: read @@ -91,7 +91,7 @@ jobs: cache-to: type=gha,mode=max build_and_test_package_and_docs: name: Build and test spot_ros2 packages - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 needs: prepare_container container: image: ${{ needs.prepare_container.outputs.image }} diff --git a/.github/workflows/maintenance.yml b/.github/workflows/maintenance.yml index 7d3b052fd..f3bf1f4bb 100644 --- a/.github/workflows/maintenance.yml +++ b/.github/workflows/maintenance.yml @@ -12,7 +12,7 @@ env: jobs: clean-ghcr: name: Prune old images from Github Container Registry - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Delete old pull request images uses: snok/container-retention-policy@v2 From eba2b176f942b957a313ad96d3a9220f9d34d336 Mon Sep 17 00:00:00 2001 From: Katie Hughes <157421702+khughes-bdai@users.noreply.github.com> Date: Thu, 9 Jan 2025 11:00:29 -0500 Subject: [PATCH 15/23] [N/A] better error message if robot is missing joint level api license (#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 --- spot_hardware_interface/src/spot_hardware_interface.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/spot_hardware_interface/src/spot_hardware_interface.cpp b/spot_hardware_interface/src/spot_hardware_interface.cpp index 99bc950ac..62c61b8cc 100644 --- a/spot_hardware_interface/src/spot_hardware_interface.cpp +++ b/spot_hardware_interface/src/spot_hardware_interface.cpp @@ -428,7 +428,8 @@ void state_stream_loop(std::stop_token stop_token, ::bosdyn::client::RobotStateS // Get robot state stream auto robot_state_stream = stateStreamClient->GetRobotStateStream(); if (!robot_state_stream) { - RCLCPP_ERROR(rclcpp::get_logger("SpotHardware"), "Failed to get robot state"); + RCLCPP_ERROR(rclcpp::get_logger("SpotHardware"), + "Failed to get robot state. Does the robot have a valid joint level control license?"); continue; } latest_state_stream_response = std::move(robot_state_stream.response); From 1d46cf396b467f3beb2ce0db95e4b0ad6c460823 Mon Sep 17 00:00:00 2001 From: Katie Hughes <157421702+khughes-bdai@users.noreply.github.com> Date: Fri, 10 Jan 2025 11:24:05 -0500 Subject: [PATCH 16/23] [SW-1788] use synchros2 in spot_ros2 (#549) ## 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 --- spot_driver/package.xml | 2 +- ...rated_reregistered_hand_camera_depth_publisher.py | 6 +++--- spot_driver/spot_driver/spot_alerts.py | 4 ++-- spot_driver/spot_driver/spot_ros2.py | 12 ++++-------- spot_driver/test/pytests/conftest.py | 4 ++-- .../test/pytests/test_clear_behavior_fault.py | 4 ++-- spot_driver/test/pytests/test_dock.py | 4 ++-- spot_driver/test/pytests/test_execute_dance.py | 4 ++-- .../test/pytests/test_get_choreography_status.py | 4 ++-- spot_driver/test/pytests/test_list_all_dances.py | 4 ++-- spot_driver/test/pytests/test_list_all_moves.py | 4 ++-- spot_driver/test/pytests/test_locomotion_mode.py | 4 ++-- spot_driver/test/pytests/test_max_velocity.py | 4 ++-- spot_driver/test/pytests/test_power_off.py | 4 ++-- .../test/pytests/test_recorded_state_to_animation.py | 4 ++-- spot_driver/test/pytests/test_release.py | 4 ++-- spot_driver/test/pytests/test_robot_command.py | 4 ++-- spot_driver/test/pytests/test_robot_state.py | 8 ++++---- spot_driver/test/pytests/test_rollover.py | 4 ++-- spot_driver/test/pytests/test_ros_interfaces.py | 2 +- spot_driver/test/pytests/test_self_right.py | 4 ++-- spot_driver/test/pytests/test_sit.py | 4 ++-- spot_driver/test/pytests/test_stair_mode.py | 4 ++-- spot_driver/test/pytests/test_stand.py | 4 ++-- .../test/pytests/test_start_recording_state.py | 4 ++-- spot_driver/test/pytests/test_stop.py | 4 ++-- .../test/pytests/test_stop_recording_state.py | 4 ++-- spot_driver/test/pytests/test_undock.py | 4 ++-- spot_driver/test/pytests/test_upload_animation.py | 4 ++-- spot_driver/test/pytests/test_upload_sequence.py | 4 ++-- spot_examples/spot_examples/arm_simple.py | 10 +++++----- spot_examples/spot_examples/batch_trajectory.py | 10 +++++----- .../send_inverse_kinematics_requests.py | 10 +++++----- spot_examples/spot_examples/simple_spot_commander.py | 6 +++--- spot_examples/spot_examples/walk_forward.py | 10 +++++----- 35 files changed, 86 insertions(+), 90 deletions(-) diff --git a/spot_driver/package.xml b/spot_driver/package.xml index 859d5c716..f642052a0 100644 --- a/spot_driver/package.xml +++ b/spot_driver/package.xml @@ -32,7 +32,7 @@ tf2_ros tl_expected - bdai_ros2_wrappers + synchros2 python3-protobuf python3-tk robot_state_publisher diff --git a/spot_driver/spot_driver/calibrated_reregistered_hand_camera_depth_publisher.py b/spot_driver/spot_driver/calibrated_reregistered_hand_camera_depth_publisher.py index ddbcbd9b2..5ea6e698d 100644 --- a/spot_driver/spot_driver/calibrated_reregistered_hand_camera_depth_publisher.py +++ b/spot_driver/spot_driver/calibrated_reregistered_hand_camera_depth_publisher.py @@ -18,15 +18,15 @@ import argparse from typing import Optional -import bdai_ros2_wrappers.process as ros_process -import bdai_ros2_wrappers.scope as ros_scope import cv2 import numpy as np import open3d as o3d +import synchros2.process as ros_process +import synchros2.scope as ros_scope import yaml -from bdai_ros2_wrappers.context import wait_for_shutdown from cv_bridge import CvBridge from sensor_msgs.msg import Image +from synchros2.context import wait_for_shutdown class CalibratedReRegisteredHandCameraDepthPublisher: diff --git a/spot_driver/spot_driver/spot_alerts.py b/spot_driver/spot_driver/spot_alerts.py index 2e46fec78..faec02a78 100755 --- a/spot_driver/spot_driver/spot_alerts.py +++ b/spot_driver/spot_driver/spot_alerts.py @@ -2,10 +2,10 @@ from tkinter import messagebox from typing import Any, List, Optional -import bdai_ros2_wrappers.process as ros_process -from bdai_ros2_wrappers.node import Node +import synchros2.process as ros_process from rclpy.parameter import Parameter from rclpy.qos import QoSPresetProfiles +from synchros2.node import Node from spot_msgs.msg import ( # type: ignore BatteryStateArray, diff --git a/spot_driver/spot_driver/spot_ros2.py b/spot_driver/spot_driver/spot_ros2.py index 2c95747bc..625e8bee0 100644 --- a/spot_driver/spot_driver/spot_ros2.py +++ b/spot_driver/spot_driver/spot_ros2.py @@ -12,19 +12,12 @@ from enum import Enum from typing import Any, Callable, Dict, List, Optional, Union -import bdai_ros2_wrappers.process as ros_process import builtin_interfaces.msg import rclpy import rclpy.duration import rclpy.time +import synchros2.process as ros_process import tf2_ros -from bdai_ros2_wrappers.node import Node -from bdai_ros2_wrappers.single_goal_action_server import ( - SingleGoalActionServer, -) -from bdai_ros2_wrappers.single_goal_multiple_action_servers import ( - SingleGoalMultipleActionServers, -) from bosdyn.api import ( geometry_pb2, gripper_camera_param_pb2, @@ -69,6 +62,9 @@ from rclpy.timer import Rate from sensor_msgs.msg import JointState from std_srvs.srv import SetBool, Trigger +from synchros2.node import Node +from synchros2.single_goal_action_server import SingleGoalActionServer +from synchros2.single_goal_multiple_action_servers import SingleGoalMultipleActionServers import spot_driver.robot_command_util as robot_command_util diff --git a/spot_driver/test/pytests/conftest.py b/spot_driver/test/pytests/conftest.py index 162f12b95..95393029d 100644 --- a/spot_driver/test/pytests/conftest.py +++ b/spot_driver/test/pytests/conftest.py @@ -19,7 +19,6 @@ import tempfile import typing -import bdai_ros2_wrappers.scope as ros_scope import domain_coordinator import grpc import launch @@ -31,11 +30,12 @@ import launch_ros.substitutions import pytest import rclpy +import synchros2.scope as ros_scope import yaml -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.power_pb2 import PowerCommandRequest, PowerCommandResponse, PowerCommandStatus from bosdyn.api.robot_command_pb2 import RobotCommandResponse from bosdyn.api.robot_state_pb2 import PowerState +from synchros2.scope import ROSAwareScope import spot_wrapper.testing from spot_driver.spot_ros2 import SpotROS diff --git a/spot_driver/test/pytests/test_clear_behavior_fault.py b/spot_driver/test/pytests/test_clear_behavior_fault.py index 2b4c3a91b..55e1f4c4f 100644 --- a/spot_driver/test/pytests/test_clear_behavior_fault.py +++ b/spot_driver/test/pytests/test_clear_behavior_fault.py @@ -9,10 +9,10 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.robot_command_pb2 import ClearBehaviorFaultResponse from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import ClearBehaviorFault # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_dock.py b/spot_driver/test/pytests/test_dock.py index 0ad9eeb7d..7c9582628 100644 --- a/spot_driver/test/pytests/test_dock.py +++ b/spot_driver/test/pytests/test_dock.py @@ -9,11 +9,11 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.basic_command_pb2 import RobotCommandFeedbackStatus, StandCommand from bosdyn.api.docking.docking_pb2 import DockingCommandFeedbackResponse, DockingCommandResponse from bosdyn.api.robot_command_pb2 import RobotCommandFeedbackResponse, RobotCommandResponse +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import Dock # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_execute_dance.py b/spot_driver/test/pytests/test_execute_dance.py index 91fa8662c..cf62c182d 100644 --- a/spot_driver/test/pytests/test_execute_dance.py +++ b/spot_driver/test/pytests/test_execute_dance.py @@ -9,8 +9,6 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.spot.choreography_sequence_pb2 import ( ChoreographySequence, ChoreographyStatusResponse, @@ -20,6 +18,8 @@ from google.protobuf import text_format from rclpy.action import ActionClient from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.action import ExecuteDance # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_get_choreography_status.py b/spot_driver/test/pytests/test_get_choreography_status.py index b0a39bdec..e24782bbd 100644 --- a/spot_driver/test/pytests/test_get_choreography_status.py +++ b/spot_driver/test/pytests/test_get_choreography_status.py @@ -9,9 +9,9 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.spot.choreography_sequence_pb2 import ChoreographyStatusResponse +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import GetChoreographyStatus # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_list_all_dances.py b/spot_driver/test/pytests/test_list_all_dances.py index e3fb4e7cc..982bf1a5d 100644 --- a/spot_driver/test/pytests/test_list_all_dances.py +++ b/spot_driver/test/pytests/test_list_all_dances.py @@ -9,9 +9,9 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.spot.choreography_sequence_pb2 import ListAllSequencesResponse +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import ListAllDances # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_list_all_moves.py b/spot_driver/test/pytests/test_list_all_moves.py index 5f8ccce02..a0a70e146 100644 --- a/spot_driver/test/pytests/test_list_all_moves.py +++ b/spot_driver/test/pytests/test_list_all_moves.py @@ -9,9 +9,9 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.spot.choreography_sequence_pb2 import ListAllMovesResponse +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import ListAllMoves # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_locomotion_mode.py b/spot_driver/test/pytests/test_locomotion_mode.py index 065f887ed..4124a21b3 100644 --- a/spot_driver/test/pytests/test_locomotion_mode.py +++ b/spot_driver/test/pytests/test_locomotion_mode.py @@ -9,8 +9,8 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import SetLocomotion # type: ignore diff --git a/spot_driver/test/pytests/test_max_velocity.py b/spot_driver/test/pytests/test_max_velocity.py index 0e5b49c05..f752a6d8e 100644 --- a/spot_driver/test/pytests/test_max_velocity.py +++ b/spot_driver/test/pytests/test_max_velocity.py @@ -9,8 +9,8 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import SetVelocity # type: ignore diff --git a/spot_driver/test/pytests/test_power_off.py b/spot_driver/test/pytests/test_power_off.py index 2d7114156..3dcb08904 100644 --- a/spot_driver/test/pytests/test_power_off.py +++ b/spot_driver/test/pytests/test_power_off.py @@ -9,10 +9,10 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.robot_command_pb2 import RobotCommandResponse from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_recorded_state_to_animation.py b/spot_driver/test/pytests/test_recorded_state_to_animation.py index b4f2523bf..b0e4a7bd3 100644 --- a/spot_driver/test/pytests/test_recorded_state_to_animation.py +++ b/spot_driver/test/pytests/test_recorded_state_to_animation.py @@ -9,8 +9,6 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.data_chunk_pb2 import DataChunk from bosdyn.api.geometry_pb2 import Quaternion, SE3Pose, Vec3 from bosdyn.api.header_pb2 import CommonError, ResponseHeader @@ -25,6 +23,8 @@ ) from google.protobuf.timestamp_pb2 import Timestamp from google.protobuf.wrappers_pb2 import DoubleValue +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import ChoreographyRecordedStateToAnimation # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_release.py b/spot_driver/test/pytests/test_release.py index f4bc00dd6..77cd52179 100644 --- a/spot_driver/test/pytests/test_release.py +++ b/spot_driver/test/pytests/test_release.py @@ -9,9 +9,9 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope @pytest.mark.usefixtures("spot_node", "simple_spot") diff --git a/spot_driver/test/pytests/test_robot_command.py b/spot_driver/test/pytests/test_robot_command.py index 4a1fbb3f2..33099aa39 100644 --- a/spot_driver/test/pytests/test_robot_command.py +++ b/spot_driver/test/pytests/test_robot_command.py @@ -9,14 +9,14 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.basic_command_pb2 import RobotCommandFeedbackStatus, StopCommand from bosdyn.api.full_body_command_pb2 import FullBodyCommand from bosdyn.api.robot_command_pb2 import RobotCommandFeedback, RobotCommandFeedbackResponse, RobotCommandResponse from bosdyn.client.robot_command import RobotCommandBuilder from bosdyn_msgs.conversions import convert from rclpy.action import ActionClient +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.action import RobotCommand as RobotCommandAction # type: ignore from spot_msgs.srv import RobotCommand as RobotCommandService # type: ignore diff --git a/spot_driver/test/pytests/test_robot_state.py b/spot_driver/test/pytests/test_robot_state.py index 6aaf58f5e..76e4ad3f5 100644 --- a/spot_driver/test/pytests/test_robot_state.py +++ b/spot_driver/test/pytests/test_robot_state.py @@ -3,11 +3,11 @@ import typing import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope -from bdai_ros2_wrappers.subscription import Subscription -from bdai_ros2_wrappers.utilities import namespace_with from sensor_msgs.msg import JointState +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope +from synchros2.subscription import Subscription +from synchros2.utilities import namespace_with from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_rollover.py b/spot_driver/test/pytests/test_rollover.py index b0f2055c1..f06a5a89c 100644 --- a/spot_driver/test/pytests/test_rollover.py +++ b/spot_driver/test/pytests/test_rollover.py @@ -9,10 +9,10 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.robot_command_pb2 import RobotCommandResponse from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_ros_interfaces.py b/spot_driver/test/pytests/test_ros_interfaces.py index 3414dbaa2..ba7185c53 100644 --- a/spot_driver/test/pytests/test_ros_interfaces.py +++ b/spot_driver/test/pytests/test_ros_interfaces.py @@ -3,8 +3,8 @@ import contextlib import unittest -import bdai_ros2_wrappers.scope as ros_scope import rclpy +import synchros2.scope as ros_scope from bosdyn_msgs.msg import RobotCommand, RobotCommandFeedback from std_srvs.srv import Trigger diff --git a/spot_driver/test/pytests/test_self_right.py b/spot_driver/test/pytests/test_self_right.py index 7d5f7b6b0..673acb41a 100644 --- a/spot_driver/test/pytests/test_self_right.py +++ b/spot_driver/test/pytests/test_self_right.py @@ -9,10 +9,10 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.robot_command_pb2 import RobotCommandResponse from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_sit.py b/spot_driver/test/pytests/test_sit.py index 617837246..cdb5cd182 100644 --- a/spot_driver/test/pytests/test_sit.py +++ b/spot_driver/test/pytests/test_sit.py @@ -9,10 +9,10 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.robot_command_pb2 import RobotCommandResponse from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_stair_mode.py b/spot_driver/test/pytests/test_stair_mode.py index 7f9c3f9b4..f6e40ffb4 100644 --- a/spot_driver/test/pytests/test_stair_mode.py +++ b/spot_driver/test/pytests/test_stair_mode.py @@ -9,9 +9,9 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from std_srvs.srv import SetBool +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope @pytest.mark.usefixtures("spot_node") diff --git a/spot_driver/test/pytests/test_stand.py b/spot_driver/test/pytests/test_stand.py index cd3ae57b8..707246a95 100644 --- a/spot_driver/test/pytests/test_stand.py +++ b/spot_driver/test/pytests/test_stand.py @@ -9,10 +9,10 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.robot_command_pb2 import RobotCommandResponse from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_start_recording_state.py b/spot_driver/test/pytests/test_start_recording_state.py index 4f40bfe2b..3429f2599 100644 --- a/spot_driver/test/pytests/test_start_recording_state.py +++ b/spot_driver/test/pytests/test_start_recording_state.py @@ -9,9 +9,9 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.spot.choreography_sequence_pb2 import StartRecordingStateResponse +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import ChoreographyStartRecordingState # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_stop.py b/spot_driver/test/pytests/test_stop.py index ae539c2a1..6f70a4fd9 100644 --- a/spot_driver/test/pytests/test_stop.py +++ b/spot_driver/test/pytests/test_stop.py @@ -9,10 +9,10 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.robot_command_pb2 import RobotCommandResponse from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_stop_recording_state.py b/spot_driver/test/pytests/test_stop_recording_state.py index 6a73e1739..a72264cc1 100644 --- a/spot_driver/test/pytests/test_stop_recording_state.py +++ b/spot_driver/test/pytests/test_stop_recording_state.py @@ -9,9 +9,9 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.spot.choreography_sequence_pb2 import StopRecordingStateResponse +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import ChoreographyStopRecordingState # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_undock.py b/spot_driver/test/pytests/test_undock.py index 0254ee1d8..2200d72b7 100644 --- a/spot_driver/test/pytests/test_undock.py +++ b/spot_driver/test/pytests/test_undock.py @@ -9,10 +9,10 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.docking.docking_pb2 import DockingCommandFeedbackResponse, DockingCommandResponse from std_srvs.srv import Trigger +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_upload_animation.py b/spot_driver/test/pytests/test_upload_animation.py index 84be473df..22e1d7334 100644 --- a/spot_driver/test/pytests/test_upload_animation.py +++ b/spot_driver/test/pytests/test_upload_animation.py @@ -9,9 +9,9 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.spot.choreography_sequence_pb2 import Animation, UploadAnimatedMoveResponse +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import UploadAnimation # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_driver/test/pytests/test_upload_sequence.py b/spot_driver/test/pytests/test_upload_sequence.py index 7ce679a62..b203d2fbf 100644 --- a/spot_driver/test/pytests/test_upload_sequence.py +++ b/spot_driver/test/pytests/test_upload_sequence.py @@ -9,9 +9,9 @@ # pylint: disable=no-member import pytest -from bdai_ros2_wrappers.futures import wait_for_future -from bdai_ros2_wrappers.scope import ROSAwareScope from bosdyn.api.spot.choreography_sequence_pb2 import ChoreographySequence, UploadChoreographyResponse +from synchros2.futures import wait_for_future +from synchros2.scope import ROSAwareScope from spot_msgs.srv import UploadSequence # type: ignore from spot_wrapper.testing.fixtures import SpotFixture diff --git a/spot_examples/spot_examples/arm_simple.py b/spot_examples/spot_examples/arm_simple.py index 6b19b7bba..4a3129069 100644 --- a/spot_examples/spot_examples/arm_simple.py +++ b/spot_examples/spot_examples/arm_simple.py @@ -1,16 +1,16 @@ import argparse from typing import Optional -import bdai_ros2_wrappers.process as ros_process -import bdai_ros2_wrappers.scope as ros_scope -from bdai_ros2_wrappers.action_client import ActionClientWrapper -from bdai_ros2_wrappers.tf_listener_wrapper import TFListenerWrapper -from bdai_ros2_wrappers.utilities import namespace_with +import synchros2.process as ros_process +import synchros2.scope as ros_scope from bosdyn.api import geometry_pb2 from bosdyn.client import math_helpers from bosdyn.client.frame_helpers import GRAV_ALIGNED_BODY_FRAME_NAME, ODOM_FRAME_NAME from bosdyn.client.robot_command import RobotCommandBuilder from bosdyn_msgs.conversions import convert +from synchros2.action_client import ActionClientWrapper +from synchros2.tf_listener_wrapper import TFListenerWrapper +from synchros2.utilities import namespace_with from spot_msgs.action import RobotCommand # type: ignore diff --git a/spot_examples/spot_examples/batch_trajectory.py b/spot_examples/spot_examples/batch_trajectory.py index 9a4b89c62..f9adccb84 100644 --- a/spot_examples/spot_examples/batch_trajectory.py +++ b/spot_examples/spot_examples/batch_trajectory.py @@ -46,11 +46,8 @@ import time from typing import Callable, Optional, Tuple -import bdai_ros2_wrappers.process as ros_process -import bdai_ros2_wrappers.scope as ros_scope -from bdai_ros2_wrappers.action_client import ActionClientWrapper -from bdai_ros2_wrappers.tf_listener_wrapper import TFListenerWrapper -from bdai_ros2_wrappers.utilities import namespace_with +import synchros2.process as ros_process +import synchros2.scope as ros_scope from bosdyn.api import ( arm_command_pb2, basic_command_pb2, @@ -73,6 +70,9 @@ from bosdyn_msgs.conversions import convert from google.protobuf.wrappers_pb2 import DoubleValue from rclpy.node import Node +from synchros2.action_client import ActionClientWrapper +from synchros2.tf_listener_wrapper import TFListenerWrapper +from synchros2.utilities import namespace_with from tf2_ros import TransformStamped from spot_examples.simple_spot_commander import SimpleSpotCommander diff --git a/spot_examples/spot_examples/send_inverse_kinematics_requests.py b/spot_examples/spot_examples/send_inverse_kinematics_requests.py index f81332de2..8a8f02fb8 100644 --- a/spot_examples/spot_examples/send_inverse_kinematics_requests.py +++ b/spot_examples/spot_examples/send_inverse_kinematics_requests.py @@ -19,13 +19,10 @@ import argparse from typing import List -import bdai_ros2_wrappers.process as ros_process -import bdai_ros2_wrappers.scope as ros_scope import geometry_msgs.msg import numpy as np -from bdai_ros2_wrappers.action_client import ActionClientWrapper -from bdai_ros2_wrappers.tf_listener_wrapper import TFListenerWrapper -from bdai_ros2_wrappers.utilities import namespace_with +import synchros2.process as ros_process +import synchros2.scope as ros_scope from bosdyn.api.spot import inverse_kinematics_pb2, robot_command_pb2 from bosdyn.client.frame_helpers import ( BODY_FRAME_NAME, @@ -38,6 +35,9 @@ from bosdyn.client.robot_command import RobotCommandBuilder from bosdyn_msgs.conversions import convert from rclpy.node import Node +from synchros2.action_client import ActionClientWrapper +from synchros2.tf_listener_wrapper import TFListenerWrapper +from synchros2.utilities import namespace_with from tf2_ros import TransformBroadcaster, TransformStamped from spot_msgs.action import RobotCommand # type: ignore diff --git a/spot_examples/spot_examples/simple_spot_commander.py b/spot_examples/spot_examples/simple_spot_commander.py index d4ae7c80b..e8f85bc71 100644 --- a/spot_examples/spot_examples/simple_spot_commander.py +++ b/spot_examples/spot_examples/simple_spot_commander.py @@ -4,13 +4,13 @@ import logging from typing import Any, Dict, Optional -import bdai_ros2_wrappers.process as ros_process -import bdai_ros2_wrappers.scope as ros_scope import rclpy -from bdai_ros2_wrappers.utilities import fqn, namespace_with +import synchros2.process as ros_process +import synchros2.scope as ros_scope from rclpy.client import Client from rclpy.node import Node from std_srvs.srv import Trigger +from synchros2.utilities import fqn, namespace_with TRIGGER_SERVICES = [ "claim", diff --git a/spot_examples/spot_examples/walk_forward.py b/spot_examples/spot_examples/walk_forward.py index d1a6b618a..c6c562c98 100644 --- a/spot_examples/spot_examples/walk_forward.py +++ b/spot_examples/spot_examples/walk_forward.py @@ -2,16 +2,16 @@ import logging from typing import Optional -import bdai_ros2_wrappers.process as ros_process -import bdai_ros2_wrappers.scope as ros_scope -from bdai_ros2_wrappers.action_client import ActionClientWrapper -from bdai_ros2_wrappers.tf_listener_wrapper import TFListenerWrapper -from bdai_ros2_wrappers.utilities import fqn, namespace_with +import synchros2.process as ros_process +import synchros2.scope as ros_scope from bosdyn.client.frame_helpers import BODY_FRAME_NAME, VISION_FRAME_NAME from bosdyn.client.math_helpers import Quat, SE2Pose, SE3Pose from bosdyn.client.robot_command import RobotCommandBuilder from bosdyn_msgs.conversions import convert from rclpy.node import Node +from synchros2.action_client import ActionClientWrapper +from synchros2.tf_listener_wrapper import TFListenerWrapper +from synchros2.utilities import fqn, namespace_with from spot_msgs.action import RobotCommand # type: ignore From 3b2bd37721f6c05171cb3c0ba4babcb303720a1b Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 13 Jan 2025 11:18:34 -0500 Subject: [PATCH 17/23] [dependabot] Bump ros_utilities from `ef5ee62` to `6d3c8f3` (#551) Bumps [ros_utilities](https://github.com/bdaiinstitute/ros_utilities) from `ef5ee62` to `6d3c8f3`.

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