Add TODO, broken attempt at optional parameter

bdaiinstitute · Dec 4, 2023 · 2c275c2 · 2c275c2
1 parent 4823531
commit 2c275c2
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/spot_driver/launch/spot_driver.launch.py b/spot_driver/launch/spot_driver.launch.py
@@ -118,7 +118,8 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
 
     if not mock_enable:
         # Get parameters from Spot.
-
+        # TODO this deviates from the `get_from_env_and_fall_back_to_param` logic in `spot_ros2.py`,
+        # which would pull in values in `config_file`
         username = os.getenv("BOSDYN_CLIENT_USERNAME", "username")
         password = os.getenv("BOSDYN_CLIENT_PASSWORD", "password")
         hostname = os.getenv("SPOT_IP", "hostname")
@@ -160,7 +161,8 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
     spot_driver_params = {
         "spot_name": spot_name,
         "mock_enable": mock_enable,
-        "mock_has_arm": mock_has_arm,
+        # Use a list to express optional boolean. Valid values are `[]`, `[True]` and `[False]`
+        "mock_has_arm": [mock_has_arm] if mock_enable else [],
         "publish_depth_registered": False,
         "publish_depth": False,
         "publish_rgb": False,

diff --git a/spot_driver/spot_driver/spot_ros2.py b/spot_driver/spot_driver/spot_ros2.py
@@ -252,7 +252,8 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
 
         self.declare_parameter("spot_name", "")
         self.declare_parameter("mock_enable", False)
-        self.declare_parameter("mock_has_arm", True)
+        # Use a list to express optional boolean. Valid values are `[]`, `[True]` and `[False]`
+        self.declare_parameter("mock_has_arm", [])
 
         # used for setting when not using launch file
         if parameter_list is not None: