Add WorldObjectService, SpotCheckService, unit tests, Docker CI build pipeline #126

jeremysee2 · 2023-04-19T12:18:07Z

The corresponding change in spot_wrapper is at: bdaiinstitute/spot_wrapper#6

* added static Typing, unit tests for ros_helpers and graph_nav_util, refactored spot_wrapper.py into separate modules, added Github Actions CI pipeline, tested on Spot 3.2.0 and ROS Noetic

* added ROS unit testing of publishers, services, action servers

* Added spot_check ROS service --------- Co-authored-by: Ming Jie See <>

* publish pointcloud from VLP16 * add unit tests --------- Co-authored-by: Yoshiki Obinata <[email protected]> Co-authored-by: Michal Staniaszek <[email protected]>

… sync-with-upstream

Sync with upstream

… feature/pick-service

Add pick service

* add docker_export Github action

… sync-with-upstream

Sync with upstream, add unit tests for Dock ROS action

spot_driver/src/spot_driver/ros_helpers.py

jeremysee2 · 2023-04-20T20:33:03Z

Added docs for Arm, EAP, GraphNav and Docker.

heuristicus

Thanks for your work on this. I think the main thing to ask is that you add some comments to functions that you've added. The driver in general is fairly sparse on comments in the code and I want to start improving that. The same applies to messages and services, which are not particularly well commented either.

I still need to:

test it on the robot in conjunction with the wrapper changes
check docker stuff

heuristicus · 2023-04-22T11:58:16Z

spot_driver/config/spot_ros.yaml

+depth_in_visual: True
+mode_parent_odom_tf: vision


Be specific about what these parameters are for.

heuristicus · 2023-04-22T11:59:17Z

spot_driver/launch/driver.launch

@@ -1,7 +1,7 @@
 <launch>
  <arg name="username" default="dummyusername" />
  <arg name="password" default="dummypassword" />
-  <arg name="hostname" default="192.168.50.3" />
+  <arg name="hostname" default="192.168.80.3" />


Suggested change

<arg name="hostname" default="192.168.80.3" />

<arg name="hostname" default="192.168.50.3" />

This would break things for anyone who was using the default value for this.

heuristicus · 2023-04-22T12:11:50Z

spot_driver/test/ros_helpers_test.py

+            state, spot_wrapper, inverse_target_frame
+        )
+
+        transforms = sorted(tf_message.transforms, key=lambda x: x.child_frame_id)


Suggested change

transforms = sorted(tf_message.transforms, key=lambda x: x.child_frame_id)

transforms = list(

reversed(sorted(tf_message.transforms, key=lambda x: x.header.frame_id))

)

Child frame has two instances of body, so the order is arbitrary. Sorting by header frame ID ad reversing the list makes the test work consistently.

heuristicus · 2023-04-22T12:14:52Z

spot_driver/src/spot_driver/ros_helpers.py

        state.system_fault_state.historical_faults, spot_wrapper
    )
    return system_fault_state_msg


-def getBehaviorFaultsFromState(state, spot_wrapper):
-    """Maps behavior fault data from robot state proto to ROS BehaviorFaultState message
+def GetSpotCheckResultsMsg(


Needs a comment.

heuristicus · 2023-04-22T12:14:59Z

spot_driver/src/spot_driver/ros_helpers.py

+    return ros_resp
+
+
+def GetFrameTreeSnapshotMsg(data: geometry_pb2.FrameTreeSnapshot) -> FrameTreeSnapshot:


heuristicus · 2023-04-22T12:15:07Z

spot_driver/src/spot_driver/ros_helpers.py

+    return frame_tree_snapshot_msg
+
+
+def GetAprilTagPropertiesMsg(


heuristicus · 2023-04-22T12:15:13Z

spot_driver/src/spot_driver/ros_helpers.py

+    return april_tag_properties_msg
+
+
+def GetImagePropertiesMsg(


heuristicus · 2023-04-22T12:15:23Z

spot_driver/src/spot_driver/ros_helpers.py

+    return image_properties_msg
+
+
+def GetWorldObjectsMsg(


heuristicus · 2023-04-22T12:15:31Z

spot_driver/src/spot_driver/ros_helpers.py

+    return world_object_msg
+
+
+def GetFrameNamesAssociatedWithObject(


heuristicus · 2023-04-22T12:15:36Z

spot_driver/src/spot_driver/ros_helpers.py


+def GetTFFromWorldObjects(


jeremysee2 · 2023-04-22T18:35:01Z

Added the requested comments, fixed ros_helpers_test.py (https://github.com/jeremysee2/spot_ros/blob/master/spot_driver/test/ros_helpers_test.py#L545), reverted the default hostname param in ad7687f

…e-master

The modularity changes meant that images were no longer retrieved with async functions, which would result in very slow updates when running the driver over a wireless network (which isn't recommended, but should still update joint states and other things at a reasonable rate).

…ne, modular wrapper (#126)" This reverts commit e6a274e.

…lar wrapper (#126) Updates spot_ros to use the modularised wrapper code, adds code to access world objects and spot check with the driver, adds some unit tests and a docker build pipeline. co-authored-by: Michal Staniaszek <[email protected]>

jeremysee2 and others added 30 commits February 24, 2023 07:32

Add unit tests (#1)

b1eb4c0

* added static Typing, unit tests for ros_helpers and graph_nav_util, refactored spot_wrapper.py into separate modules, added Github Actions CI pipeline, tested on Spot 3.2.0 and ROS Noetic

Add unit tests (#1)

0757fd7

* added static Typing, unit tests for ros_helpers and graph_nav_util, refactored spot_wrapper.py into separate modules, added Github Actions CI pipeline, tested on Spot 3.2.0 and ROS Noetic

Merge branch 'master' of github.com:jeremysee2/spot_ros

bade44f

Ros module tests (#2)

b602674

* added ROS unit testing of publishers, services, action servers

spot_check service (#6)

2ff4d31

* Added spot_check ROS service --------- Co-authored-by: Ming Jie See <>

Add VLP-16 LIDAR Support (#7)

0bd58d8

* publish pointcloud from VLP16 * add unit tests --------- Co-authored-by: Yoshiki Obinata <[email protected]> Co-authored-by: Michal Staniaszek <[email protected]>

Merge branch 'master' of https://github.com/heuristicus/spot_ros into…

a8ee254

… sync-with-upstream

remove repeated merge pointcloud

8b95cf9

remove repeated imports

453ca78

Merge pull request #9 from jeremysee2/sync-with-upstream

bdeb22e

Sync with upstream

Merge branch 'feature/grasp_service' into feature/pick-service

1b6e5a5

Merge branch 'master' of https://github.com/heuristicus/spot_ros into…

e1324ce

… feature/pick-service

cleanup

c49067d

added typing

92239d0

point to spot_arm project

0ea15ed

added grasp_3d service ros unit testing

21f0d5f

Merge pull request #11 from jeremysee2/feature/pick-service

82642f1

Add pick service

Add docker export (#12)

0fde641

* add docker_export Github action

Merge branch 'master' of https://github.com/heuristicus/spot_ros into…

4c365e6

… sync-with-upstream

add tests for Dock Action

25f8d87

black formatter

8b63482

Merge pull request #14 from jeremysee2/sync-with-upstream

857a32c

Sync with upstream, add unit tests for Dock ROS action

Added WorldObjectService to retrieve world objects (e.g. fiducials)

02e3ee7

run docker build only on push to master

68f0321

WorldObjectClient ROS unit testing

99dd2f6

add worldobjecttask to async tasks

0234280

testing with real data blob

2a5d7f2

remove pkl test

c90d82a

changed secs

8f320b5

increase test timeout

24ba451

heuristicus reviewed Apr 19, 2023

View reviewed changes

spot_driver/src/spot_driver/ros_helpers.py Outdated Show resolved Hide resolved

remove duplicated get_corrected_odom

59b2db4

jeremysee2 mentioned this pull request Apr 20, 2023

Refactoring code to be more modular bdaiinstitute/spot_wrapper#6

Closed

jeremysee2 added 10 commits April 20, 2023 19:13

spot eap docs

9fbaa46

how to generate docs locally

2e4cf7b

format eap usage

065a572

arm usage

3c134ca

docker deployment

0503f92

graphnav docs

49e1675

eap docs

44bb37e

arm docs

e20abe1

graphnav images

10ca432

generated html docs

402a0ba

heuristicus reviewed Apr 22, 2023

View reviewed changes

added comments from PR feedback

ad7687f

jeremysee2 and others added 3 commits April 22, 2023 18:49

remove spot_config

f884c88

Merge branch 'master' into jeremysee-master

c414be4

update wrapper

9460b50

heuristicus mentioned this pull request Jun 3, 2023

Configurable odom tf publishing #134

Open

heuristicus added 6 commits June 3, 2023 14:53

Merge branch 'master' of github.com:jeremysee2/spot_ros into jeremyse…

18fe35f

…e-master

update wrapper to latest

d46c1ec

update wrapper

0220b9d

formatting

0d62561

reorder imports with pycharm organise imports

af8910f

heuristicus merged commit e6a274e into heuristicus:master Aug 6, 2023

heuristicus added a commit that referenced this pull request Aug 6, 2023

Revert "world objects, spot check, unit tests, Docker CI build pipeli…

7863af7

…ne, modular wrapper (#126)" This reverts commit e6a274e.

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Add WorldObjectService, SpotCheckService, unit tests, Docker CI build pipeline #126

Add WorldObjectService, SpotCheckService, unit tests, Docker CI build pipeline #126

jeremysee2 commented Apr 19, 2023 •

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jeremysee2 commented Apr 22, 2023

	<arg name="hostname" default="192.168.80.3" />
	<arg name="hostname" default="192.168.50.3" />

-        transforms = sorted(tf_message.transforms, key=lambda x: x.child_frame_id)
+        transforms = list(
+            reversed(sorted(tf_message.transforms, key=lambda x: x.header.frame_id))
+        )

		return ros_resp


		def GetFrameTreeSnapshotMsg(data: geometry_pb2.FrameTreeSnapshot) -> FrameTreeSnapshot:

		return world_object_msg


		def GetFrameNamesAssociatedWithObject(

		depth_in_visual: True
		mode_parent_odom_tf: vision

Add WorldObjectService, SpotCheckService, unit tests, Docker CI build pipeline #126

Add WorldObjectService, SpotCheckService, unit tests, Docker CI build pipeline #126

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jeremysee2 commented Apr 22, 2023

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