[SW-1764] allow use of preferred_odom_frame parameter #538
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khughes-bdai
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Pull Request Test Coverage Report for Build 12402142533Details
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mhidalgo-bdai
approved these changes
Dec 19, 2024
jcarpinelli-bdai
approved these changes
Dec 19, 2024
| @@ -116,6 +116,18 @@ inline void addBodyVelocityOdom(::bosdyn::api::KinematicState* mutable_kinematic | |||
| velocity_angular->set_z(rz); | |||
| } | |||
|
|
|||
| inline void addBodyVelocityVision(::bosdyn::api::KinematicState* mutable_kinematic_state, double x, double y, double z, | |||
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Teeny-tiny comment. I don't think it really matters since they're primitives, but since you added const to the boolean function arguments above, is const something relevant here too?
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ah yeah I just based this on the function already above this, which also doesn't use const. Probably wouldn't change anything if i were to add it here
bjin-bdai
approved these changes
Dec 19, 2024
AngelRodriguez8008
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Dec 27, 2024
* 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
* 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
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Change Overview
The
preferred_odom_frameparameter is supposed to let you chose whether "odom" (default) or "vision" frame is used as the base frame in the/odometrytopic. On main right now this is hardcoded to "odom" in the launchfileThis PR allows you to actually change this parameter. It also introduces some logic to deal with getting the velocity of the body in either the "odom" or "vision" frame, depending on which choice is selected. There is also some minor launchfile cleanup here.
related to: #29, and takes a lot of work from #416
Testing Done
/SpotName/odometrytopicpreferred_odom_frame: "vision"parameter set via config file: "vision" is the parent frame in/SpotName/odometry