diff --git a/bosdyn_api_msgs/CMakeLists.txt b/bosdyn_api_msgs/CMakeLists.txt index b3ef7165..d4b1108e 100644 --- a/bosdyn_api_msgs/CMakeLists.txt +++ b/bosdyn_api_msgs/CMakeLists.txt @@ -16,6 +16,7 @@ fetch_spot_sdk(spotsdk) set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos") file(GLOB ${PROJECT_NAME}_PROTOS "${${PROJECT_NAME}_PROTO_DIR}/bosdyn/api/*.proto" + "${${PROJECT_NAME}_PROTO_DIR}/bosdyn/api/gps/*.proto" "${${PROJECT_NAME}_PROTO_DIR}/bosdyn/api/docking/*.proto" ) diff --git a/bosdyn_api_msgs/package.xml b/bosdyn_api_msgs/package.xml index bd733f01..f27ab161 100644 --- a/bosdyn_api_msgs/package.xml +++ b/bosdyn_api_msgs/package.xml @@ -5,7 +5,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved. bosdyn_api_msgs - 3.3.2 + 4.0.0 ROS 2 interoperability support for Boston Dynamics Spot SDK core APIs BD AI Institute MIT diff --git a/bosdyn_auto_return_api_msgs/config/overlay.yaml b/bosdyn_auto_return_api_msgs/config/overlay.yaml index 9ef1aebc..ec34d141 100644 --- a/bosdyn_auto_return_api_msgs/config/overlay.yaml +++ b/bosdyn_auto_return_api_msgs/config/overlay.yaml @@ -1,6 +1,7 @@ package_mapping: bosdyn.api: bosdyn_api_msgs bosdyn.api.docking: bosdyn_api_msgs + bosdyn.api.gps: bosdyn_api_msgs python_imports: - bosdyn_api_msgs.msg inline_python_imports: diff --git a/bosdyn_auto_return_api_msgs/package.xml b/bosdyn_auto_return_api_msgs/package.xml index 06fec8f5..5dffe2e3 100644 --- a/bosdyn_auto_return_api_msgs/package.xml +++ b/bosdyn_auto_return_api_msgs/package.xml @@ -2,7 +2,7 @@ bosdyn_auto_return_api_msgs - 3.3.2 + 4.0.0 ROS 2 interoperability support for Boston Dynamics Spot SDK auto-return APIs BD AI Institute MIT diff --git a/bosdyn_autowalk_api_msgs/config/overlay.yaml b/bosdyn_autowalk_api_msgs/config/overlay.yaml index 9774fbd4..e302ef36 100644 --- a/bosdyn_autowalk_api_msgs/config/overlay.yaml +++ b/bosdyn_autowalk_api_msgs/config/overlay.yaml @@ -1,6 +1,7 @@ package_mapping: bosdyn.api: bosdyn_api_msgs bosdyn.api.docking: bosdyn_api_msgs + bosdyn.api.gps: bosdyn_api_msgs bosdyn.api.graph_nav: bosdyn_graph_nav_api_msgs bosdyn.api.mission: bosdyn_mission_api_msgs bosdyn.api.spot: bosdyn_spot_api_msgs diff --git a/bosdyn_autowalk_api_msgs/package.xml b/bosdyn_autowalk_api_msgs/package.xml index a5968d1e..0ef29ccf 100644 --- a/bosdyn_autowalk_api_msgs/package.xml +++ b/bosdyn_autowalk_api_msgs/package.xml @@ -2,7 +2,7 @@ bosdyn_autowalk_api_msgs - 3.3.2 + 4.0.0 ROS 2 interoperability support for Boston Dynamics Spot SDK autowalk APIs BD AI Institute MIT diff --git a/bosdyn_cmake_module/package.xml b/bosdyn_cmake_module/package.xml index c6df72c7..df762d96 100644 --- a/bosdyn_cmake_module/package.xml +++ b/bosdyn_cmake_module/package.xml @@ -5,7 +5,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved. bosdyn_cmake_module - 3.3.2 + 4.0.0 CMake modules for Boston Dynamics Spot SDK BD AI Institute MIT diff --git a/bosdyn_graph_nav_api_msgs/config/overlay.yaml b/bosdyn_graph_nav_api_msgs/config/overlay.yaml index 44ad576b..f638bfe5 100644 --- a/bosdyn_graph_nav_api_msgs/config/overlay.yaml +++ b/bosdyn_graph_nav_api_msgs/config/overlay.yaml @@ -1,6 +1,7 @@ package_mapping: bosdyn.api: bosdyn_api_msgs bosdyn.api.docking: bosdyn_api_msgs + bosdyn.api.gps: bosdyn_api_msgs bosdyn.api.spot: bosdyn_spot_api_msgs python_imports: - bosdyn_api_msgs.msg diff --git a/bosdyn_graph_nav_api_msgs/package.xml b/bosdyn_graph_nav_api_msgs/package.xml index 3b762d4e..ee59d322 100644 --- a/bosdyn_graph_nav_api_msgs/package.xml +++ b/bosdyn_graph_nav_api_msgs/package.xml @@ -2,7 +2,7 @@ bosdyn_graph_nav_api_msgs - 3.3.2 + 4.0.0 ROS 2 interoperability support for Boston Dynamics Spot SDK graph nav APIs BD AI Institute MIT diff --git a/bosdyn_keepalive_api_msgs/config/overlay.yaml b/bosdyn_keepalive_api_msgs/config/overlay.yaml index 558b2a07..0ed6f429 100644 --- a/bosdyn_keepalive_api_msgs/config/overlay.yaml +++ b/bosdyn_keepalive_api_msgs/config/overlay.yaml @@ -1,6 +1,7 @@ package_mapping: bosdyn.api: bosdyn_api_msgs bosdyn.api.docking: bosdyn_api_msgs + bosdyn.api.gps: bosdyn_api_msgs bosdyn.api.auto_return: bosdyn_auto_return_api_msgs python_imports: - bosdyn_api_msgs.msg diff --git a/bosdyn_keepalive_api_msgs/package.xml b/bosdyn_keepalive_api_msgs/package.xml index 8fb745ff..a4351164 100644 --- a/bosdyn_keepalive_api_msgs/package.xml +++ b/bosdyn_keepalive_api_msgs/package.xml @@ -2,7 +2,7 @@ bosdyn_keepalive_api_msgs - 3.3.2 + 4.0.0 ROS 2 interoperability support for Boston Dynamics Spot SDK keepalive APIs BD AI Institute MIT diff --git a/bosdyn_log_status_api_msgs/config/overlay.yaml b/bosdyn_log_status_api_msgs/config/overlay.yaml index 9ef1aebc..ec34d141 100644 --- a/bosdyn_log_status_api_msgs/config/overlay.yaml +++ b/bosdyn_log_status_api_msgs/config/overlay.yaml @@ -1,6 +1,7 @@ package_mapping: bosdyn.api: bosdyn_api_msgs bosdyn.api.docking: bosdyn_api_msgs + bosdyn.api.gps: bosdyn_api_msgs python_imports: - bosdyn_api_msgs.msg inline_python_imports: diff --git a/bosdyn_log_status_api_msgs/package.xml b/bosdyn_log_status_api_msgs/package.xml index b3faf171..46aa4086 100644 --- a/bosdyn_log_status_api_msgs/package.xml +++ b/bosdyn_log_status_api_msgs/package.xml @@ -2,7 +2,7 @@ bosdyn_log_status_api_msgs - 3.3.2 + 4.0.0 ROS 2 interoperability support for Boston Dynamics Spot SDK log status APIs BD AI Institute MIT diff --git a/bosdyn_metrics_logging_api_msgs/CMakeLists.txt b/bosdyn_metrics_logging_api_msgs/CMakeLists.txt new file mode 100644 index 00000000..e67c334b --- /dev/null +++ b/bosdyn_metrics_logging_api_msgs/CMakeLists.txt @@ -0,0 +1,28 @@ +# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved. +cmake_minimum_required(VERSION 3.8) +project(bosdyn_metrics_logging_api_msgs) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(bosdyn_api_msgs REQUIRED) +find_package(proto2ros REQUIRED) + +find_package(bosdyn_cmake_module REQUIRED) + +fetch_spot_sdk(spotsdk) +set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos") +file(GLOB ${PROJECT_NAME}_PROTOS + "${${PROJECT_NAME}_PROTO_DIR}/bosdyn/api/metrics_logging/*.proto" +) + +proto2ros_vendor_package(${PROJECT_NAME} + PROTOS ${${PROJECT_NAME}_PROTOS} + IMPORT_DIRS ${${PROJECT_NAME}_PROTO_DIR} + CONFIG_OVERLAYS config/overlay.yaml + ROS_DEPENDENCIES bosdyn_api_msgs +) + +ament_package() diff --git a/bosdyn_metrics_logging_api_msgs/config/overlay.yaml b/bosdyn_metrics_logging_api_msgs/config/overlay.yaml new file mode 100644 index 00000000..ff51d853 --- /dev/null +++ b/bosdyn_metrics_logging_api_msgs/config/overlay.yaml @@ -0,0 +1,8 @@ +package_mapping: + bosdyn.api: bosdyn_api_msgs +python_imports: + - bosdyn_api_msgs.msg +inline_python_imports: + - bosdyn_api_msgs.conversions +package_specifications: + - bosdyn_api_msgs.specifications diff --git a/bosdyn_metrics_logging_api_msgs/package.xml b/bosdyn_metrics_logging_api_msgs/package.xml new file mode 100644 index 00000000..a2f0ffa0 --- /dev/null +++ b/bosdyn_metrics_logging_api_msgs/package.xml @@ -0,0 +1,28 @@ + + + + + bosdyn_metrics_logging_api_msgs + 4.0.0 + ROS 2 interoperability support for Boston Dynamics Spot SDK metrics logging APIs + BD AI Institute + MIT + + ament_cmake + ament_cmake_python + bosdyn_cmake_module + rosidl_default_generators + + bosdyn_api_msgs + proto2ros + + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + + diff --git a/bosdyn_mission_api_msgs/config/overlay.yaml b/bosdyn_mission_api_msgs/config/overlay.yaml index 97479804..53c10ed8 100644 --- a/bosdyn_mission_api_msgs/config/overlay.yaml +++ b/bosdyn_mission_api_msgs/config/overlay.yaml @@ -1,6 +1,7 @@ package_mapping: bosdyn.api: bosdyn_api_msgs bosdyn.api.docking: bosdyn_api_msgs + bosdyn.api.gps: bosdyn_api_msgs bosdyn.api.graph_nav: bosdyn_graph_nav_api_msgs bosdyn.api.spot: bosdyn_spot_api_msgs bosdyn.api.spot_cam: bosdyn_spot_cam_api_msgs diff --git a/bosdyn_mission_api_msgs/package.xml b/bosdyn_mission_api_msgs/package.xml index 43df0929..7cad1f2b 100644 --- a/bosdyn_mission_api_msgs/package.xml +++ b/bosdyn_mission_api_msgs/package.xml @@ -2,7 +2,7 @@ bosdyn_mission_api_msgs - 3.3.2 + 4.0.0 ROS 2 interoperability support for Boston Dynamics Spot SDK mission APIs BD AI Institute MIT diff --git a/bosdyn_msgs/bosdyn_msgs/msg/__init__.py b/bosdyn_msgs/bosdyn_msgs/msg/__init__.py index b50230bc..43bb8fa9 100644 --- a/bosdyn_msgs/bosdyn_msgs/msg/__init__.py +++ b/bosdyn_msgs/bosdyn_msgs/msg/__init__.py @@ -1,4 +1,4 @@ -# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved. +# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved. from bosdyn_api_msgs.msg import * # noqa from bosdyn_auto_return_api_msgs.msg import * # noqa @@ -6,6 +6,7 @@ from bosdyn_graph_nav_api_msgs.msg import * # noqa from bosdyn_keepalive_api_msgs.msg import * # noqa from bosdyn_log_status_api_msgs.msg import * # noqa +from bosdyn_metrics_logging_api_msgs.msg import * # noqa from bosdyn_mission_api_msgs.msg import * # noqa from bosdyn_spot_api_msgs.msg import * # noqa from bosdyn_spot_cam_api_msgs.msg import * # noqa diff --git a/bosdyn_msgs/package.xml b/bosdyn_msgs/package.xml index 9f4fe70a..aa83357a 100644 --- a/bosdyn_msgs/package.xml +++ b/bosdyn_msgs/package.xml @@ -1,11 +1,11 @@ bosdyn_msgs - 3.3.2 + 4.0.0 ROS 2 interoperability support for Boston Dynamics Spot SDK APIs BD AI Institute MIT @@ -16,6 +16,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved. bosdyn_graph_nav_api_msgs bosdyn_keepalive_api_msgs bosdyn_log_status_api_msgs + bosdyn_metrics_logging_api_msgs bosdyn_mission_api_msgs bosdyn_spot_api_msgs bosdyn_spot_cam_api_msgs diff --git a/bosdyn_spot_api_msgs/config/overlay.yaml b/bosdyn_spot_api_msgs/config/overlay.yaml index 9ef1aebc..ec34d141 100644 --- a/bosdyn_spot_api_msgs/config/overlay.yaml +++ b/bosdyn_spot_api_msgs/config/overlay.yaml @@ -1,6 +1,7 @@ package_mapping: bosdyn.api: bosdyn_api_msgs bosdyn.api.docking: bosdyn_api_msgs + bosdyn.api.gps: bosdyn_api_msgs python_imports: - bosdyn_api_msgs.msg inline_python_imports: diff --git a/bosdyn_spot_api_msgs/package.xml b/bosdyn_spot_api_msgs/package.xml index a85b38f5..15fcace8 100644 --- a/bosdyn_spot_api_msgs/package.xml +++ b/bosdyn_spot_api_msgs/package.xml @@ -5,7 +5,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved. bosdyn_spot_api_msgs - 3.3.2 + 4.0.0 Boston Dynamics Spot API ROS 2 interfaces BD AI Institute MIT diff --git a/bosdyn_spot_cam_api_msgs/config/overlay.yaml b/bosdyn_spot_cam_api_msgs/config/overlay.yaml index 9ef1aebc..ec34d141 100644 --- a/bosdyn_spot_cam_api_msgs/config/overlay.yaml +++ b/bosdyn_spot_cam_api_msgs/config/overlay.yaml @@ -1,6 +1,7 @@ package_mapping: bosdyn.api: bosdyn_api_msgs bosdyn.api.docking: bosdyn_api_msgs + bosdyn.api.gps: bosdyn_api_msgs python_imports: - bosdyn_api_msgs.msg inline_python_imports: diff --git a/bosdyn_spot_cam_api_msgs/package.xml b/bosdyn_spot_cam_api_msgs/package.xml index cf247f77..d5ae5a57 100644 --- a/bosdyn_spot_cam_api_msgs/package.xml +++ b/bosdyn_spot_cam_api_msgs/package.xml @@ -2,7 +2,7 @@ bosdyn_spot_cam_api_msgs - 3.3.2 + 4.0.0 Boston Dynamics Spot API ROS 2 interfaces BD AI Institute MIT diff --git a/pip-constraint.txt b/pip-constraint.txt index 944c4b97..838d0eb5 100644 --- a/pip-constraint.txt +++ b/pip-constraint.txt @@ -1,4 +1,4 @@ -bosdyn-api==3.3.2 -bosdyn-choreography-protos==3.3.2 +bosdyn-api==4.0.0 +bosdyn-choreography-protos==4.0.0 # ensure protoc 3.12.4 compatibility protobuf<=4.22.4 diff --git a/ros_utilities b/ros_utilities index d61832f3..ded1f3e9 160000 --- a/ros_utilities +++ b/ros_utilities @@ -1 +1 @@ -Subproject commit d61832f3d9fb19062a829770f4907d031e31e717 +Subproject commit ded1f3e992ced3719bb87f2d933aae288ce473c4