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[SW-1106] using custom launch actions from synchros2 #537

Merged
merged 6 commits into from
Dec 19, 2024
Merged

[SW-1106] using custom launch actions from synchros2 #537

merged 6 commits into from
Dec 19, 2024

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tcappellari-bdai
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@tcappellari-bdai tcappellari-bdai commented Dec 18, 2024 •
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Change Overview

Modifying the launch files to use the custom launch actions from synchros2 (formerly bdai_ros2_wrappers)

Testing Done

driver and examples run as expected

Please create a checklist of tests you plan to do and check off the ones that have been completed successfully. Ensure that ROS 2 tests use domain_coordinator to prevent port conflicts. Further guidance for testing can be found on the ros utilities wiki.

@tcappellari-bdai tcappellari-bdai force-pushed the SW-1106-use-the-new-launch-actions-in-the-spot-ros-2-repo branch from 07bef23 to 9c3113c Compare December 18, 2024 20:16
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coveralls commented Dec 18, 2024 •
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Pull Request Test Coverage Report for Build 12402015250

Details

  • 0 of 0 changed or added relevant lines in 0 files are covered.
  • No unchanged relevant lines lost coverage.
  • Overall coverage increased (+0.6%) to 51.785%
Totals Coverage Status
Change from base Build 12396615564: 0.6%
Covered Lines: 2118
Relevant Lines: 4090
💛 - Coveralls

@tcappellari-bdai tcappellari-bdai marked this pull request as ready for review December 19, 2024 13:23
@tcappellari-bdai tcappellari-bdai requested a review from a team December 19, 2024 13:23
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There are a bunch of boolean launch args related to image publishing defined here https://github.com/bdaiinstitute/spot_ros2/blob/main/spot_driver/spot_driver/launch/spot_launch_helpers.py & imported into the main launchfiles that could also benefit from this

@tcappellari-bdai tcappellari-bdai force-pushed the SW-1106-use-the-new-launch-actions-in-the-spot-ros-2-repo branch from c5101b3 to e46d633 Compare December 19, 2024 15:27
khughes-bdai
khughes-bdai approved these changes Dec 19, 2024
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LGTM

@tcappellari-bdai tcappellari-bdai merged commit 5c17fcd into main Dec 19, 2024
4 checks passed
@tcappellari-bdai tcappellari-bdai deleted the SW-1106-use-the-new-launch-actions-in-the-spot-ros-2-repo branch December 19, 2024 16:05
AngelRodriguez8008 added a commit to AngelRodriguez8008/spot_ros2 that referenced this pull request Dec 27, 2024
@AngelRodriguez8008
Merge branch 'main' into dev/angels_changes
50916a5 
* main:
  [SW-1106] using custom launch actions from synchros2 (bdaiinstitute#537)
  [SW-1764] allow use of preferred_odom_frame parameter (bdaiinstitute#538)
  [dependabot] Bump ros_utilities from `5aa699a` to `539c962` (bdaiinstitute#535)
  [SW-1658] Allow body frame to be root of TF tree (bdaiinstitute#536)
  [N/a] fix for launching the driver without the gripper (bdaiinstitute#534)
  [MAPLE-681] Add robot_description_package as parameter to driver launch (bdaiinstitute#531)
  [dependabot] Bump ros_utilities from `e4d5c80` to `5aa699a` (bdaiinstitute#530)
  [dependabot] Bump ros_utilities from `02ca14e` to `e4d5c80` (bdaiinstitute#525)
  [dependabot] Bump ros_utilities from `5258a5a` to `02ca14e` (bdaiinstitute#524)
  [dependabot] Bump spot_wrapper from `76e522b` to `c78ebfb` (bdaiinstitute#523)
  [dependabot] Bump ros_utilities from `23a79c9` to `5258a5a` (bdaiinstitute#522)
  [N/A] bugfix: give new xacro arguments default values (bdaiinstitute#521)
  [SW-1507] gripperless URDF for Spot (bdaiinstitute#520)
  [SW-1539] don't publish images from hand camera if gripperless param set (bdaiinstitute#518)
  [SW-1466] ability to take joint gains in through a parameter file (bdaiinstitute#516)

# Conflicts:
#	spot_driver/spot_driver/spot_ros2.py
AngelRodriguez8008 added a commit to AngelRodriguez8008/spot_ros2 that referenced this pull request Dec 27, 2024
@AngelRodriguez8008
Merge branch 'main' into dev/angels_changes
f5ef541 
* main:
  [SW-1106] using custom launch actions from synchros2 (bdaiinstitute#537)
  [SW-1764] allow use of preferred_odom_frame parameter (bdaiinstitute#538)
  [dependabot] Bump ros_utilities from `5aa699a` to `539c962` (bdaiinstitute#535)
  [SW-1658] Allow body frame to be root of TF tree (bdaiinstitute#536)
  [N/a] fix for launching the driver without the gripper (bdaiinstitute#534)
  [MAPLE-681] Add robot_description_package as parameter to driver launch (bdaiinstitute#531)
  [dependabot] Bump ros_utilities from `e4d5c80` to `5aa699a` (bdaiinstitute#530)
  [dependabot] Bump ros_utilities from `02ca14e` to `e4d5c80` (bdaiinstitute#525)
  [dependabot] Bump ros_utilities from `5258a5a` to `02ca14e` (bdaiinstitute#524)
  [dependabot] Bump spot_wrapper from `76e522b` to `c78ebfb` (bdaiinstitute#523)
  [dependabot] Bump ros_utilities from `23a79c9` to `5258a5a` (bdaiinstitute#522)
  [N/A] bugfix: give new xacro arguments default values (bdaiinstitute#521)
  [SW-1507] gripperless URDF for Spot (bdaiinstitute#520)
  [SW-1539] don't publish images from hand camera if gripperless param set (bdaiinstitute#518)
  [SW-1466] ability to take joint gains in through a parameter file (bdaiinstitute#516)

# Conflicts:
#	spot_driver/spot_driver/spot_ros2.py
@khughes-bdai khughes-bdai mentioned this pull request Jan 13, 2025
Merged
khughes-bdai added a commit that referenced this pull request Jan 13, 2025
@khughes-bdai
[N/A] revert update_sigterm_sigkill_timeouts (#553)
3469a3a 
## Change Overview

Reverts the calls to `update_sigterm_sigkill_timeout` introduced in #537. I have a very strong hunch that this is tanking CI execution time in our internal repo (after this change, we are only able to complete 17% of relevant tests before timing out, which is blocking my PR to bring in the latest changes from this repo).

## Testing Done

N/A
khughes-bdai added a commit that referenced this pull request Jan 14, 2025
@khughes-bdai
[N/A] revert update_sigterm_sigkill_timeouts (#553)
8e9d48d 
## Change Overview

Reverts the calls to `update_sigterm_sigkill_timeout` introduced in #537. I have a very strong hunch that this is tanking CI execution time in our internal repo (after this change, we are only able to complete 17% of relevant tests before timing out, which is blocking my PR to bring in the latest changes from this repo).

## Testing Done

N/A

Signed-off-by: Katie Hughes <khughes-bdai@theaiinstitute.com>
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@jcarpinelli-bdai jcarpinelli-bdai jcarpinelli-bdai approved these changes

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@METEORITENMAX METEORITENMAX Awaiting requested review from METEORITENMAX METEORITENMAX is a code owner

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@tcappellari-bdai @coveralls @khughes-bdai @jcarpinelli-bdai