[N/A] Add a mock launch argument #199
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Current dependencies on/for this PR:
This stack of pull requests is managed by Graphite. |
ggoretkin-bdai
force-pushed
the
11-21-_N/A_Add_a_mock_launch_argument
branch
from
68d28d9 to
2202fef
Compare
ggoretkin-bdai
commented
Nov 29, 2023
spot_driver/spot_driver/spot_ros2.py
Outdated
| @@ -2343,7 +2349,7 @@ def populate_camera_static_transforms(self, image_data: image_pb2.Image) -> None | |||
| # We exclude the odometry frames from static transforms since they are not static. We can ignore the body | |||
| # frame because it is a child of odom or vision depending on the preferred_odom_frame, and will be published | |||
| # by the non-static transform publishing that is done by the state callback | |||
| frame_prefix = MOCK_HOSTNAME + "/" | |||
| frame_prefix = "" | |||
There was a problem hiding this comment.
I think we need to duplicate this: https://github.com/bdaiinstitute/spot_wrapper/blob/ae0f808eeb9c2792dd44e83fc5bc8863f2f687b3/spot_wrapper/wrapper.py#L422
ashay-bdai
force-pushed
the
11-21-_N/A_Add_a_mock_launch_argument
branch
from
217290e to
0432abf
Compare
ggoretkin-bdai
force-pushed
the
11-21-_N/A_Add_a_mock_launch_argument
branch
4 times, most recently
from
716d3da to
80fd72b
Compare
This was referenced Dec 5, 2023
…from the launch file.
ggoretkin-bdai
force-pushed
the
11-21-_N/A_Add_a_mock_launch_argument
branch
from
9725e97 to
166eb4e
Compare
ggoretkin-bdai
requested review from
METEORITENMAX,
jbarry-bdai,
mpickett-bdai,
bhung-bdai and
ksharma-bdai
as code owners
amessing-bdai
approved these changes
Dec 7, 2023
bhung-bdai
approved these changes
Dec 7, 2023
ksharma-bdai
approved these changes
Dec 7, 2023
spot_driver/spot_driver/spot_ros2.py
Outdated
Comment on lines
417
to
421
| if self.frame_prefix != self.spot_wrapper.frame_prefix: | ||
| self.get_logger().warn( | ||
| f"WARNING: disagreement between `self.frame_prefix` ({self.frame_prefix}) and" | ||
| f" `self.spot_wrapper.frame_prefix` ({self.spot_wrapper.frame_prefix})" | ||
| ) |
There was a problem hiding this comment.
is this safe to just keep a as a warning rather than a failure? since some of the replacement code depends on this being true, i wonder if we should fail here even if this is a "should never happen" kind of scenario
There was a problem hiding this comment.
+1. Honestly not sure if it matters or not, but it would be good if someone knew
There was a problem hiding this comment.
That's a good point. The safe options are
- make this an error
- restore some of the logic at https://github.com/bdaiinstitute/spot_ros2/pull/199/files#diff-11ccb5e01196250d5a8ef23315e44c8111eeb856fcc11e14b36789f915ba207aL2347 and handle the mocked case specially
I think 1 is better.
There was a problem hiding this comment.
I think the error makes sense, a hard failure will get reported so we can figure out when/why this actually occurs.
|
I made disagreement about |
bhung-bdai
approved these changes
Dec 8, 2023
marlow-fawn
pushed a commit
to marlow-fawn/spot_ros2
that referenced
this pull request
Aug 19, 2024
This PR uses node / launch arguments to specify whether the driver should operate in "mock" mode, instead of using the sentinel name `Mock_spot`. With an explicit parameter, we can have multiple mocks, with different names, and also affect whether there is an arm. For example, with this modification you can do ``` cd spot_driver colcon build --symlink # (`symlink` [does not apply to launch files](colcon/colcon-core#407)) source install/setup.bash ros2 launch spot_driver spot_driver.launch.py spot_name:=AnyNameHere mock_enable:=True mock_has_arm:=True ``` and then, for example (`spot_utilities`, specifically in `bdai` repo) ``` # source so that `spot_driver` can be found cd spot_utilities # /workspaces/bdai/ws/src/spot_utilities colcon build source install/setup.bash ros2 run spot_utilities spot_teleop.py AnyNameHere ```
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR uses node / launch arguments to specify whether the driver should operate in "mock" mode, instead of using the sentinel name
Mock_spot. With an explicit parameter, we can have multiple mocks, with different names, and also affect whether there is an arm.For example, with this modification you can do
and then, for example (
spot_utilities, specifically inbdairepo)