[PN-97] Implement Spot's Robot State Publisher in C++ #209
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spot_driver_cpp/include/spot_driver_cpp/interfaces/parameter_interface_base.hpp
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… allow early return
…d unnecessary pointer
gbrooks-bdai
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spot_driver/include/spot_driver/robot_state/state_middleware_handle.hpp
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spot_driver/include/spot_driver/robot_state/state_publisher.hpp
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Feedback from review Co-authored-by: Griswald Brooks <157394791+gbrooks-bdai@users.noreply.github.com>
spot_driver/test/include/spot_driver/mock/mock_tf_interface.hpp
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## Change Overview Current `spot_driver.launch.py` launchfile on main does not work, fails with `executable 'kinematic_node' not found on the libexec directory` and, when this was fixed, `executable 'spot_robot_state_publisher_node' not found on the libexec directory` These errors were introduced with #209 which implemented the robot state publisher in C++ and also changed the name of some nodes. This just updates to the correct node names. ## Testing Done - [x] successfully able to launch the driver in a ROS 2 environment and control the robot, call services, etc.
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) - Add a C++-based Spot state publisher node, which replaces the previous functionality in the Spot Python driver. - Update the spot_driver.launch.py launch file to start the new state publisher node. --- Co-authored-by: Joe Schornak <jschornak@theaiinstitute.com> Co-authored-by: gremigi-bdai <146826329+gremigi-bdai@users.noreply.github.com> Co-authored-by: Griswald Brooks <157394791+gbrooks-bdai@users.noreply.github.com>
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…te#282) ## Change Overview Current `spot_driver.launch.py` launchfile on main does not work, fails with `executable 'kinematic_node' not found on the libexec directory` and, when this was fixed, `executable 'spot_robot_state_publisher_node' not found on the libexec directory` These errors were introduced with bdaiinstitute#209 which implemented the robot state publisher in C++ and also changed the name of some nodes. This just updates to the correct node names. ## Testing Done - [x] successfully able to launch the driver in a ROS 2 environment and control the robot, call services, etc.
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This PR adds a new C++-based Spot state publisher node, which replaces the previous functionality in the Spot Python driver.
The default
spot_driver.launch.pylaunch file has been updated to use the C++ publisherHow to Test
Launch the Spot driver through its launch file, and observe that the topics containing info about Spot's state are being published.