[PN-126] Combine spot_driver and spot_driver_cpp

[gbrooks-bdai]

PN-126 Move driver python code and rename but not configs and launch

PN-126 Move configs and launch

[gbrooks-bdai]

Current dependencies on/for this PR:

• main
  • PR [PN-126] Combine spot_driver and spot_driver_cpp #241 👈

This stack of pull requests is managed by Graphite.

[jschornak-bdai]

• There are a few uses of the old spot_driver_cpp package name in spot_driver/launch/spot_driver.launch.py that'll need to be updated. Right now the driver doesn't launch because it's looking for the nodes in spot_driver_cpp instead of spot_driver.
• The C++ header files in spot_driver/include/spot_driver_cpp should be moved to spot_driver/include/spot_driver. This will be fairly annoying since all the uses of these headers in the C++ code will need to be updated too, but I think it's a requirement/expectation for this directory to have a name that matches its package.

[gbrooks-bdai]

Interesting that things are still building and tests aren't failing

[gbrooks-bdai]

oh, I see why. My bad

[gbrooks-bdai]

Ok @jschornak-bdai , can you check again?

[tcappellari-bdai]

I tried to start the driver like I usually would but am getting errors (sounds like a launch file has some formatting error that causes some TF errors down the line or something -> nevermind the TF errors are still there there when im testing something else but they dont stop the driver from actually starting properly like this error seems to

[INFO] [launch]: All log files can be found below /home/tcappellari/.ros/log/2024-02-05-15-18-51-093711-tcappellari-LT-46083
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [spot_ros2-1]: exception occurred while executing process:
Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/execute_local.py", line 546, in __execute_process
    transport, self._subprocess_protocol = await async_execute_process(
  File "/opt/ros/humble/lib/python3.10/site-packages/osrf_pycommon/process_utils/async_execute_process_asyncio/impl.py", line 139, in async_execute_process
    transport, protocol = await _async_execute_process_nopty(
  File "/opt/ros/humble/lib/python3.10/site-packages/osrf_pycommon/process_utils/async_execute_process_asyncio/impl.py", line 45, in _async_execute_process_nopty
    transport, protocol = await loop.subprocess_exec(
  File "/usr/lib/python3.10/asyncio/base_events.py", line 1681, in subprocess_exec
    transport = await self._make_subprocess_transport(
  File "/usr/lib/python3.10/asyncio/unix_events.py", line 207, in _make_subprocess_transport
    transp = _UnixSubprocessTransport(self, protocol, args, shell,
  File "/usr/lib/python3.10/asyncio/base_subprocess.py", line 36, in __init__
    self._start(args=args, shell=shell, stdin=stdin, stdout=stdout,
  File "/usr/lib/python3.10/asyncio/unix_events.py", line 799, in _start
    self._proc = subprocess.Popen(
  File "/usr/lib/python3.10/subprocess.py", line 971, in __init__
    self._execute_child(args, executable, preexec_fn, close_fds,
  File "/usr/lib/python3.10/subprocess.py", line 1751, in _execute_child
    self._posix_spawn(args, executable, env, restore_signals,
  File "/usr/lib/python3.10/subprocess.py", line 1696, in _posix_spawn
    self.pid = os.posix_spawn(executable, args, env, **kwargs)
OSError: [Errno 8] Exec format error: '/workspaces/bdai/_build/install/spot_driver/lib/spot_driver/spot_ros2'

[tcappellari-bdai]

lgtm

[gbrooks-bdai]

TIL: https://roboticsbackend.com/ros2-package-for-both-python-and-cpp-nodes/#:~:text=Important%3A%20you%20have%20to%20add%20a%20shebang%20line%20first%20thing%20in%20the%20py_node.py%20file%3A

[jschornak-bdai]

One very minor little thing and then I think this is all set:

[gbrooks-bdai]

Merge activity

• Feb 6, 11:24 AM EST: @gbrooks-bdai merged this pull request with Graphite.