Add TODO, broken attempt at optional parameter

bdaiinstitute · Dec 4, 2023 · 716d3da · 716d3da
1 parent 4823531
commit 716d3da
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Showing 2 changed files with 17 additions and 6 deletions.
diff --git a/spot_driver/launch/spot_driver.launch.py b/spot_driver/launch/spot_driver.launch.py
@@ -118,7 +118,8 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
 
     if not mock_enable:
         # Get parameters from Spot.
-
+        # TODO this deviates from the `get_from_env_and_fall_back_to_param` logic in `spot_ros2.py`,
+        # which would pull in values in `config_file`
         username = os.getenv("BOSDYN_CLIENT_USERNAME", "username")
         password = os.getenv("BOSDYN_CLIENT_PASSWORD", "password")
         hostname = os.getenv("SPOT_IP", "hostname")
@@ -160,12 +161,18 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
     spot_driver_params = {
         "spot_name": spot_name,
         "mock_enable": mock_enable,
-        "mock_has_arm": mock_has_arm,
         "publish_depth_registered": False,
         "publish_depth": False,
         "publish_rgb": False,
     }
 
+    if mock_enable:
+        mock_spot_driver_params = {
+            "mock_has_arm": mock_has_arm
+        }
+        # Merge the two dicts
+        spot_driver_params = {**spot_driver_params, **mock_spot_driver_params}
+
     spot_driver_node = launch_ros.actions.Node(
         package="spot_driver",
         executable="spot_ros2",

diff --git a/spot_driver/spot_driver/spot_ros2.py b/spot_driver/spot_driver/spot_ros2.py
@@ -251,8 +251,10 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
         self.declare_parameter("initialize_spot_cam", False)
 
         self.declare_parameter("spot_name", "")
-        self.declare_parameter("mock_enable", False)
-        self.declare_parameter("mock_has_arm", True)
+        if self.get_parameter("mock_enable").value:
+            # This is resuling in:
+            # [spot_ros2-1] rclpy.exceptions.ParameterNotDeclaredException: ('Invalid access to undeclared parameter(s)', 'mock_enable')
+            self.declare_parameter("mock_has_arm")
 
         # used for setting when not using launch file
         if parameter_list is not None:
@@ -294,8 +296,10 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
         self.name: Optional[str] = self.get_parameter("spot_name").value
         if not self.name:
             self.name = None
-        self.mock: Optional[bool] = self.get_parameter("mock_enable").value
-        self.mock_has_arm: Optional[bool] = self.get_parameter("mock_has_arm").value
+        self.mock: bool = self.get_parameter("mock_enable").value
+        self.mock_has_arm: Optional[bool] = None
+        if self.mock:
+            self.mock_has_arm = self.get_parameter("mock_has_arm").value
 
         self.motion_deadzone: Parameter = self.get_parameter("deadzone")
         self.estop_timeout: Parameter = self.get_parameter("estop_timeout")