[PN-126] Combine spot_driver and spot_driver_cpp (bdaiinstitute#241)

[PN-126] Move driver python code and rename but not configs and launch [PN-126] Move configs and launch [PN-126]: https://theaiinstitute.atlassian.net/browse/PN-126?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ [PN-126]: https://theaiinstitute.atlassian.net/browse/PN-126?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ
marlow-fawn · Feb 6, 2024 · bc7fb4b · bc7fb4b
1 parent 6d62ab8
commit bc7fb4b
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Showing 82 changed files with 248 additions and 250 deletions.
diff --git a/spot_driver_cpp/CMakeLists.txt → spot_driver/CMakeLists.txt b/spot_driver_cpp/CMakeLists.txt → spot_driver/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.22)
 
 list(APPEND CMAKE_PREFIX_PATH /opt/spot-cpp-sdk)
 
-project(spot_driver_cpp)
+project(spot_driver)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -22,6 +22,7 @@ set(THIS_PACKAGE_INCLUDE_ROS_DEPENDS
 )
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 find_package(bosdyn REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_ROS_DEPENDS})
   find_package(${Dependency} REQUIRED)
@@ -100,6 +101,25 @@ rclcpp_components_register_node(
   PLUGIN "spot_ros2::kinematic::KinematicNode"
   EXECUTABLE kinematic_node_component)
 
+ament_python_install_package(${PROJECT_NAME})
+install(
+  PROGRAMS
+  spot_driver/command_spot_driver.py
+  DESTINATION lib/${PROJECT_NAME}
+  RENAME command_spot
+  )
+install(
+  PROGRAMS
+  spot_driver/publish_cameras.py
+  DESTINATION lib/${PROJECT_NAME}
+  RENAME spot_publish_cameras
+  )
+install(
+  PROGRAMS
+  spot_driver/spot_ros2.py
+  DESTINATION lib/${PROJECT_NAME}
+  RENAME spot_ros2
+  )
 # Install Libraries
 install(
   TARGETS
@@ -128,6 +148,11 @@ install(
 # Install include directory
 install(DIRECTORY include/ DESTINATION include)
 
+# Install launch and configurations
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
+
 ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 

diff --git a/spot_driver/LICENSE b/spot_driver/LICENSE
@@ -1,3 +1,26 @@
+MIT License
+
+Copyright (c) 2023 Boston Dynamics AI Institute
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
 BSD 3-Clause License
 
 Copyright (c) 2021, Clearpath Robotics Inc.

diff --git a/spot_driver/README.md b/spot_driver/README.md
@@ -0,0 +1,20 @@
+# spot_driver
+
+This package provides ROS 2 nodes to interact with Spot through its SDK.
+
+## Why Python?
+Being known for it's ease of use and flexibility, the Spot Python SDK is used for many operations.
+There are several entry points, though it is recommended to use the provided launch files.
+
+- `spot_ros2` is the node used to connect to the spot and creates ROS 2 action servers and services.
+- `command_spot` provides a command line interface with ROS 2 clients to send simple commands.
+- `spot_publish_cameras` publishes camera images from spot cameras to ROS topics.
+> :warning: **Warning:** For performance reasons, `spot_publish_cameras` is being rewritten in C++.
+
+## Why C++?
+
+The Spot C++ SDK is more performant than the Spot Python SDK for some operations.
+
+For example, the Spot C++ SDK's image client can retrieve images from all Spot's RGB and depth cameras at close to their native refresh rate of 15Hz.
+
+In constrast, the Spot Python SDK's image client slows substantially when requesting images from multiple depth cameras at once, and it can only maintain around 1Hz when requesting images from all RGB and depth cameras at once.
diff --git a/...t_driver_cpp/api/default_image_client.hpp → .../spot_driver/api/default_image_client.hpp b/...t_driver_cpp/api/default_image_client.hpp → .../spot_driver/api/default_image_client.hpp
@@ -4,9 +4,9 @@
 
 #include <bosdyn/client/image/image_client.h>
 #include <bosdyn/client/sdk/client_sdk.h>
-#include <spot_driver_cpp/api/spot_image_sources.hpp>
-#include <spot_driver_cpp/api/time_sync_api.hpp>
-#include <spot_driver_cpp/interfaces/image_client_interface.hpp>
+#include <spot_driver/api/spot_image_sources.hpp>
+#include <spot_driver/api/time_sync_api.hpp>
+#include <spot_driver/interfaces/image_client_interface.hpp>
 
 #include <memory>
 #include <string>

diff --git a/..._driver_cpp/api/default_kinematic_api.hpp → ...spot_driver/api/default_kinematic_api.hpp b/..._driver_cpp/api/default_kinematic_api.hpp → ...spot_driver/api/default_kinematic_api.hpp
@@ -2,7 +2,7 @@
 
 #pragma once
 
-#include <spot_driver_cpp/api/kinematic_api.hpp>
+#include <spot_driver/api/kinematic_api.hpp>
 
 #include <tl_expected/expected.hpp>
 

diff --git a/.../spot_driver_cpp/api/default_spot_api.hpp → ...lude/spot_driver/api/default_spot_api.hpp b/.../spot_driver_cpp/api/default_spot_api.hpp → ...lude/spot_driver/api/default_spot_api.hpp
@@ -2,11 +2,11 @@
 
 #pragma once
 
-#include <spot_driver_cpp/api/spot_api.hpp>
+#include <spot_driver/api/spot_api.hpp>
 
 #include <bosdyn/client/robot/robot.h>
 #include <bosdyn/client/sdk/client_sdk.h>
-#include <spot_driver_cpp/api/time_sync_api.hpp>
+#include <spot_driver/api/time_sync_api.hpp>
 
 #include <memory>
 #include <string>

diff --git a/..._driver_cpp/api/default_time_sync_api.hpp → ...spot_driver/api/default_time_sync_api.hpp b/..._driver_cpp/api/default_time_sync_api.hpp → ...spot_driver/api/default_time_sync_api.hpp
@@ -6,7 +6,7 @@
 #include <google/protobuf/duration.pb.h>
 #include <google/protobuf/timestamp.pb.h>
 #include <builtin_interfaces/msg/time.hpp>
-#include <spot_driver_cpp/api/time_sync_api.hpp>
+#include <spot_driver/api/time_sync_api.hpp>
 #include <tl_expected/expected.hpp>
 
 #include <memory>

diff --git a/...ude/spot_driver_cpp/api/kinematic_api.hpp → ...include/spot_driver/api/kinematic_api.hpp b/...ude/spot_driver_cpp/api/kinematic_api.hpp → ...include/spot_driver/api/kinematic_api.hpp
diff --git a/.../include/spot_driver_cpp/api/spot_api.hpp → ...iver/include/spot_driver/api/spot_api.hpp b/.../include/spot_driver_cpp/api/spot_api.hpp → ...iver/include/spot_driver/api/spot_api.hpp
@@ -2,8 +2,8 @@
 
 #pragma once
 
-#include <spot_driver_cpp/api/kinematic_api.hpp>
-#include <spot_driver_cpp/interfaces/image_client_interface.hpp>
+#include <spot_driver/api/kinematic_api.hpp>
+#include <spot_driver/interfaces/image_client_interface.hpp>
 #include <tl_expected/expected.hpp>
 
 #include <memory>

diff --git a/...pot_driver_cpp/api/spot_image_sources.hpp → ...de/spot_driver/api/spot_image_sources.hpp b/...pot_driver_cpp/api/spot_image_sources.hpp → ...de/spot_driver/api/spot_image_sources.hpp
@@ -3,7 +3,7 @@
 #pragma once
 
 #include <bosdyn/client/image/image_client.h>
-#include <spot_driver_cpp/types.hpp>
+#include <spot_driver/types.hpp>
 #include <tl_expected/expected.hpp>
 
 #include <map>

diff --git a/...ude/spot_driver_cpp/api/time_sync_api.hpp → ...include/spot_driver/api/time_sync_api.hpp b/...ude/spot_driver_cpp/api/time_sync_api.hpp → ...include/spot_driver/api/time_sync_api.hpp
diff --git a/...er_cpp/conversions/common_conversions.hpp → ...driver/conversions/common_conversions.hpp b/...er_cpp/conversions/common_conversions.hpp → ...driver/conversions/common_conversions.hpp
diff --git a/...cpp/conversions/kinematic_conversions.hpp → ...ver/conversions/kinematic_conversions.hpp b/...cpp/conversions/kinematic_conversions.hpp → ...ver/conversions/kinematic_conversions.hpp
diff --git a/...r_cpp/images/images_middleware_handle.hpp → ...river/images/images_middleware_handle.hpp b/...r_cpp/images/images_middleware_handle.hpp → ...river/images/images_middleware_handle.hpp
@@ -6,11 +6,11 @@
 #include <memory>
 #include <rclcpp/node.hpp>
 #include <set>
-#include <spot_driver_cpp/images/spot_image_publisher.hpp>
-#include <spot_driver_cpp/interfaces/rclcpp_logger_interface.hpp>
-#include <spot_driver_cpp/interfaces/rclcpp_parameter_interface.hpp>
-#include <spot_driver_cpp/interfaces/rclcpp_tf_interface.hpp>
-#include <spot_driver_cpp/interfaces/rclcpp_wall_timer_interface.hpp>
+#include <spot_driver/images/spot_image_publisher.hpp>
+#include <spot_driver/interfaces/rclcpp_logger_interface.hpp>
+#include <spot_driver/interfaces/rclcpp_parameter_interface.hpp>
+#include <spot_driver/interfaces/rclcpp_tf_interface.hpp>
+#include <spot_driver/interfaces/rclcpp_wall_timer_interface.hpp>
 #include <string>
 #include <tl_expected/expected.hpp>
 #include <unordered_map>

diff --git a/...river_cpp/images/spot_image_publisher.hpp → ...ot_driver/images/spot_image_publisher.hpp b/...river_cpp/images/spot_image_publisher.hpp → ...ot_driver/images/spot_image_publisher.hpp
@@ -8,13 +8,13 @@
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <set>
-#include <spot_driver_cpp/api/spot_image_sources.hpp>
-#include <spot_driver_cpp/interfaces/image_client_interface.hpp>
-#include <spot_driver_cpp/interfaces/logger_interface_base.hpp>
-#include <spot_driver_cpp/interfaces/parameter_interface_base.hpp>
-#include <spot_driver_cpp/interfaces/tf_interface_base.hpp>
-#include <spot_driver_cpp/interfaces/timer_interface_base.hpp>
-#include <spot_driver_cpp/types.hpp>
+#include <spot_driver/api/spot_image_sources.hpp>
+#include <spot_driver/interfaces/image_client_interface.hpp>
+#include <spot_driver/interfaces/logger_interface_base.hpp>
+#include <spot_driver/interfaces/parameter_interface_base.hpp>
+#include <spot_driver/interfaces/tf_interface_base.hpp>
+#include <spot_driver/interfaces/timer_interface_base.hpp>
+#include <spot_driver/types.hpp>
 #include <string>
 #include <unordered_map>
 #include <vector>

diff --git a/..._cpp/images/spot_image_publisher_node.hpp → ...iver/images/spot_image_publisher_node.hpp b/..._cpp/images/spot_image_publisher_node.hpp → ...iver/images/spot_image_publisher_node.hpp
@@ -4,10 +4,10 @@
 
 #include <rclcpp/node_interfaces/node_base_interface.hpp>
 #include <rclcpp/node_options.hpp>
-#include <spot_driver_cpp/api/spot_api.hpp>
-#include <spot_driver_cpp/images/spot_image_publisher.hpp>
-#include <spot_driver_cpp/interfaces/logger_interface_base.hpp>
-#include <spot_driver_cpp/interfaces/parameter_interface_base.hpp>
+#include <spot_driver/api/spot_api.hpp>
+#include <spot_driver/images/spot_image_publisher.hpp>
+#include <spot_driver/interfaces/logger_interface_base.hpp>
+#include <spot_driver/interfaces/parameter_interface_base.hpp>
 
 #include <memory>
 

diff --git a/...cpp/interfaces/image_client_interface.hpp → ...ver/interfaces/image_client_interface.hpp b/...cpp/interfaces/image_client_interface.hpp → ...ver/interfaces/image_client_interface.hpp
@@ -4,7 +4,7 @@
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
-#include <spot_driver_cpp/api/spot_image_sources.hpp>
+#include <spot_driver/api/spot_image_sources.hpp>
 #include <tl_expected/expected.hpp>
 
 #include <map>

diff --git a/..._cpp/interfaces/logger_interface_base.hpp → ...iver/interfaces/logger_interface_base.hpp b/..._cpp/interfaces/logger_interface_base.hpp → ...iver/interfaces/logger_interface_base.hpp
diff --git a/...p/interfaces/parameter_interface_base.hpp → ...r/interfaces/parameter_interface_base.hpp b/...p/interfaces/parameter_interface_base.hpp → ...r/interfaces/parameter_interface_base.hpp
diff --git a/...pp/interfaces/rclcpp_logger_interface.hpp → ...er/interfaces/rclcpp_logger_interface.hpp b/...pp/interfaces/rclcpp_logger_interface.hpp → ...er/interfaces/rclcpp_logger_interface.hpp
@@ -3,7 +3,7 @@
 #pragma once
 
 #include <rclcpp/logger.hpp>
-#include <spot_driver_cpp/interfaces/logger_interface_base.hpp>
+#include <spot_driver/interfaces/logger_interface_base.hpp>
 
 #include <string>
 

diff --git a/...interfaces/rclcpp_parameter_interface.hpp → ...interfaces/rclcpp_parameter_interface.hpp b/...interfaces/rclcpp_parameter_interface.hpp → ...interfaces/rclcpp_parameter_interface.hpp
@@ -3,7 +3,7 @@
 #pragma once
 
 #include <rclcpp/node.hpp>
-#include <spot_driver_cpp/interfaces/parameter_interface_base.hpp>
+#include <spot_driver/interfaces/parameter_interface_base.hpp>
 
 #include <memory>
 #include <string>

diff --git a/...er_cpp/interfaces/rclcpp_tf_interface.hpp → ...driver/interfaces/rclcpp_tf_interface.hpp b/...er_cpp/interfaces/rclcpp_tf_interface.hpp → ...driver/interfaces/rclcpp_tf_interface.hpp
@@ -4,7 +4,7 @@
 
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <rclcpp/node.hpp>
-#include <spot_driver_cpp/interfaces/tf_interface_base.hpp>
+#include <spot_driver/interfaces/tf_interface_base.hpp>
 
 #include <memory>
 #include <set>

diff --git a/...nterfaces/rclcpp_wall_timer_interface.hpp → ...nterfaces/rclcpp_wall_timer_interface.hpp b/...nterfaces/rclcpp_wall_timer_interface.hpp → ...nterfaces/rclcpp_wall_timer_interface.hpp
@@ -4,7 +4,7 @@
 
 #include <rclcpp/node.hpp>
 #include <rclcpp/timer.hpp>
-#include <spot_driver_cpp/interfaces/timer_interface_base.hpp>
+#include <spot_driver/interfaces/timer_interface_base.hpp>
 
 #include <chrono>
 #include <memory>

diff --git a/...iver_cpp/interfaces/tf_interface_base.hpp → ...t_driver/interfaces/tf_interface_base.hpp b/...iver_cpp/interfaces/tf_interface_base.hpp → ...t_driver/interfaces/tf_interface_base.hpp
diff --git a/...r_cpp/interfaces/timer_interface_base.hpp → ...river/interfaces/timer_interface_base.hpp b/...r_cpp/interfaces/timer_interface_base.hpp → ...river/interfaces/timer_interface_base.hpp
diff --git a/...kinematic/kinematic_middleware_handle.hpp → ...kinematic/kinematic_middleware_handle.hpp b/...kinematic/kinematic_middleware_handle.hpp → ...kinematic/kinematic_middleware_handle.hpp
@@ -1,6 +1,6 @@
 // Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 
-#include <spot_driver_cpp/kinematic/kinematic_service.hpp>
+#include <spot_driver/kinematic/kinematic_service.hpp>
 
 #include <memory>
 #include <rclcpp/node.hpp>

diff --git a/...t_driver_cpp/kinematic/kinematic_node.hpp → .../spot_driver/kinematic/kinematic_node.hpp b/...t_driver_cpp/kinematic/kinematic_node.hpp → .../spot_driver/kinematic/kinematic_node.hpp
@@ -2,11 +2,11 @@
 
 #pragma once
 
-#include <spot_driver_cpp/kinematic/kinematic_service.hpp>
+#include <spot_driver/kinematic/kinematic_service.hpp>
 
-#include <spot_driver_cpp/api/spot_api.hpp>
-#include <spot_driver_cpp/interfaces/logger_interface_base.hpp>
-#include <spot_driver_cpp/interfaces/parameter_interface_base.hpp>
+#include <spot_driver/api/spot_api.hpp>
+#include <spot_driver/interfaces/logger_interface_base.hpp>
+#include <spot_driver/interfaces/parameter_interface_base.hpp>
 
 #include <rclcpp/node.hpp>
 #include <rclcpp/node_interfaces/node_base_interface.hpp>

diff --git a/...river_cpp/kinematic/kinematic_service.hpp → ...ot_driver/kinematic/kinematic_service.hpp b/...river_cpp/kinematic/kinematic_service.hpp → ...ot_driver/kinematic/kinematic_service.hpp
@@ -2,9 +2,9 @@
 
 #pragma once
 
-#include <spot_driver_cpp/api/kinematic_api.hpp>
+#include <spot_driver/api/kinematic_api.hpp>
 
-#include <spot_driver_cpp/interfaces/logger_interface_base.hpp>
+#include <spot_driver/interfaces/logger_interface_base.hpp>
 
 #include <spot_msgs/srv/get_inverse_kinematic_solutions.hpp>
 

diff --git a/...ver_cpp/include/spot_driver_cpp/types.hpp → spot_driver/include/spot_driver/types.hpp b/...ver_cpp/include/spot_driver_cpp/types.hpp → spot_driver/include/spot_driver/types.hpp
diff --git a/spot_driver/launch/spot_driver.launch.py b/spot_driver/launch/spot_driver.launch.py
@@ -198,7 +198,7 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
         spot_image_publisher_params.update({"publish_depth_registered": False})
 
     spot_image_publisher_node = launch_ros.actions.Node(
-        package="spot_driver_cpp",
+        package="spot_driver",
         executable="spot_image_publisher_node",
         output="screen",
         parameters=[config_file, spot_image_publisher_params],
@@ -211,7 +211,7 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
 
     kinematc_node_params = {"spot_name": spot_name}
     kinematic_node = launch_ros.actions.Node(
-        package="spot_driver_cpp",
+        package="spot_driver",
         executable="kinematic_node",
         output="screen",
         parameters=[config_file, kinematc_node_params],

diff --git a/spot_driver/package.xml b/spot_driver/package.xml
@@ -3,37 +3,42 @@
 <package format="3">
   <name>spot_driver</name>
   <version>0.0.0</version>
-  <description>This is a ROS2 package for Boston Dynamics' Spot.</description>
-  <maintainer email="maximillian.kirsch@alumni.fh-aachen.de">max</maintainer>
+  <description>ROS 2 driver nodes for Spot.</description>
+  <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <exec_depend>bdai_ros2_wrappers</exec_depend>
-  <exec_depend>common_interfaces</exec_depend>
-  <exec_depend>depth_image_proc</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>protobuf</exec_depend>
-  <exec_depend>python3-protobuf</exec_depend>
-  <exec_depend>rclcpp_components</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
-  <exec_depend>rviz2</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>spot_description</exec_depend>
-  <exec_depend>spot_driver_cpp</exec_depend>
-  <exec_depend>spot_msgs</exec_depend>
-  <exec_depend>spot_wrapper</exec_depend>
-  <exec_depend>xacro</exec_depend>
+  <depend>bdai_ros2_wrappers</depend>
+  <depend>bosdyn</depend>
+  <depend>common_interfaces</depend>
+  <depend>depth_image_proc</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>protobuf</depend>
+  <depend>python3-protobuf</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>rclpy</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rosidl_default_runtime</depend>
+  <depend>rviz2</depend>
+  <depend>sensor_msgs</depend>
+  <depend>spot_description</depend>
+  <depend>spot_msgs</depend>
+  <depend>spot_wrapper</depend>
+  <depend>tf2_ros</depend>
+  <depend>tl_expected</depend>
+  <depend>xacro</depend>
 
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>ament_cmake_pytest</test_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
+  <!-- Support for gtest and gmock-based tests in the ament buildsystem in CMake. -->
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
 
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/spot_driver/resource/spot_driver b/spot_driver/resource/spot_driver
diff --git a/spot_driver/setup.cfg b/spot_driver/setup.cfg