Update breaking changes in spot_wrapper refactoring #41
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I'm not very familiar with ROS2 so I would appreciate if someone who's familiar with this package could review it! |
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I've tested this on the surface level, appears to connect to the robot and authenticate fine. Would appreciate someone who uses this regularly to test it out. |
spot_driver/spot_driver/spot_ros2.py
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| self.spot_wrapper._upload_graph_and_snapshots(request.upload_filepath) | ||
| response.waypoint_ids = self.spot_wrapper.list_graph(request.upload_filepath) | ||
| self.spot_wrapper.spot_graph_nav._clear_graph() | ||
| self.spot_wrapper.spot_graph_nav._upload_graph_and_snapshots(request.upload_filepath) |
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Is there a reason these are private functions in spot_wrapper if they are going to be used here?
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No reason to label these as private, will remove the underscore prefix name
spot_driver/spot_driver/spot_ros2.py
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| @@ -49,6 +49,7 @@ | |||
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| import logging | |||
| import threading | |||
| import traceback | |||
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This needs the following testing:
Before we do those it'd be good to get the conflicts here and in spot wrapper fixed. @jeremysee2 can you do that? |
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There are a few outstanding PRs on the choreography changes in the wrapper, probably best to get those merged in before we fix conflicts, otherwise we'll have to do it twice. Perhaps a short pause on further PRs into the wrapper until we have the modular wrapper merged. I will try and do some testing with the ROS1 version over the weekend and into next week. |
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Yup, I'll look into those conflicts on the weekend. |
…o jeremysee2/main
…o jeremysee2/main
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The spot_wrapper PR this corresponds to was broken into pieces and several PRs were made and merged in this repo corresponding to those pieces. As such, this PR is no longer needed. |
This addresses the breaking changes from refactoring code in spot_wrapper at bdaiinstitute/spot_wrapper#6
spot_wrapper.{object}a specific waypoint `spot_wrapper.spot_graph_nav.navigate_to_specific_waypoint'