Update autowalk interfaces #6
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@k-okada Could you merge this for my experiments? |
| @@ -547,36 +551,81 @@ def bodyPoseCallback(self, data): | |||
| mobility_params.body_control.CopyFrom(body_control) | |||
| self.spot_wrapper.set_mobility_params(mobility_params) | |||
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| def handle_list_graph(self, upload_path): | |||
| def handle_start_recording(self, req): | |||
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what is the actual usecase of start/stop recording without using Tablet?
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It enables to edit and extend the graph used in spot core. If we use Tablet, we have to copy the graph to tablet, edit and extend the graph with tablet and then copy it again to the SpotCore to use it.
| string navigate_to # Waypoint id string for where to go | ||
| bool initial_localization_fiducial # Tells the initializer whether to use fiducials | ||
| string initial_localization_waypoint # Waypoint id to trigger localization | ||
| string id_navigate_to # Waypoint id string for where to go |
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This seems your original idea, beccause no one have noticed the necessarity of update interface https://github.com/heuristicus/spot_ros/blob/master/spot_msgs/action/NavigateTo.action
Whta it the benefit of this change? To support any new features ? https://dev.bostondynamics.com/docs/release_notes#autowalk-service ?
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It does not related to any new features. Original spot-ros API limits the capability of AutoWalk API since it loads all the graph files when any navigation command is issued even if the same graph is already loaded to the robot. It extremely lengthens the time it takes to execute a single navigation command.
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In fact, there are some other people use this update heuristicus/spot_ros#50
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why heuristicus/spot_ros#50 is closed?
If this is useful and already used by other people, should we reopen it?
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◉ Kei Okada
2023年5月25日(木) 12:46 Koki Shinjo ***@***.***>:
***@***.**** commented on this pull request.
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In spot_msgs/action/NavigateTo.action
<#6 (comment)>:
> @@ -1,7 +1,4 @@
-string upload_path # Absolute path to map_directory, which is downloaded from tablet controller
-string navigate_to # Waypoint id string for where to go
-bool initial_localization_fiducial # Tells the initializer whether to use fiducials
-string initial_localization_waypoint # Waypoint id to trigger localization
+string id_navigate_to # Waypoint id string for where to go
In fact, there are some other people use this update
heuristicus/spot_ros#50 <heuristicus/spot_ros#50>
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That will not be merged since it diverged extremly from master branch. (No response for months and years from maintainer) It may be good to create a new PR to spot_ros and spot_wrapper repository |
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This PR enables to use AutoWalk Interface