From c85c64baadcb352bcbb2d59fa161809872730b26 Mon Sep 17 00:00:00 2001 From: Anthony Baker Date: Mon, 4 Dec 2023 20:07:06 +0000 Subject: [PATCH 1/4] Node now contained in middleware handle --- spot_driver_cpp/CMakeLists.txt | 2 +- ...lient_api.hpp => default_image_client.hpp} | 10 ++-- .../spot_driver_cpp/api/default_spot_api.hpp | 4 +- .../include/spot_driver_cpp/api/spot_api.hpp | 4 +- .../images/images_middleware_handle.hpp | 46 +++++++++++--- .../images/spot_image_publisher.hpp | 49 +++++++-------- .../images/spot_image_publisher_node.hpp | 6 +- .../image_client_interface.hpp} | 2 +- ...lient_api.cpp => default_image_client.cpp} | 6 +- spot_driver_cpp/src/api/default_spot_api.cpp | 10 ++-- .../src/images/images_middleware_handle.cpp | 5 +- .../src/images/spot_image_publisher.cpp | 12 ++-- .../src/images/spot_image_publisher_node.cpp | 33 +++++----- ...e_client_api.hpp => mock_image_client.hpp} | 4 +- .../spot_driver_cpp/mock/mock_spot_api.hpp | 4 +- .../src/images/test_spot_image_publisher.cpp | 56 ++++------------- .../images/test_spot_image_publisher_node.cpp | 60 ++++++++++++++----- 17 files changed, 163 insertions(+), 150 deletions(-) rename spot_driver_cpp/include/spot_driver_cpp/api/{default_image_client_api.hpp => default_image_client.hpp} (66%) rename spot_driver_cpp/include/spot_driver_cpp/{api/image_client_api.hpp => interfaces/image_client_interface.hpp} (96%) rename spot_driver_cpp/src/api/{default_image_client_api.cpp => default_image_client.cpp} (97%) rename spot_driver_cpp/test/include/spot_driver_cpp/mock/{mock_image_client_api.hpp => mock_image_client.hpp} (72%) diff --git a/spot_driver_cpp/CMakeLists.txt b/spot_driver_cpp/CMakeLists.txt index f1f776dfd..2f39c8adb 100644 --- a/spot_driver_cpp/CMakeLists.txt +++ b/spot_driver_cpp/CMakeLists.txt @@ -28,7 +28,7 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_ROS_DEPENDS}) endforeach() add_library(spot_api - src/api/default_image_client_api.cpp + src/api/default_image_client.cpp src/api/default_spot_api.cpp src/api/default_time_sync_api.cpp src/api/spot_image_sources.cpp diff --git a/spot_driver_cpp/include/spot_driver_cpp/api/default_image_client_api.hpp b/spot_driver_cpp/include/spot_driver_cpp/api/default_image_client.hpp similarity index 66% rename from spot_driver_cpp/include/spot_driver_cpp/api/default_image_client_api.hpp rename to spot_driver_cpp/include/spot_driver_cpp/api/default_image_client.hpp index 1dcfd0255..f56a2436e 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/api/default_image_client_api.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/api/default_image_client.hpp @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include @@ -13,13 +13,13 @@ namespace spot_ros2 { /** - * @brief Implements ImageClientApi to use the Spot C++ Image Client. + * @brief Implements ImageClientInterface to use the Spot C++ Image Client. */ -class DefaultImageClientApi : public ImageClientApi { +class DefaultImageClient : public ImageClientInterface { public: - DefaultImageClientApi(::bosdyn::client::ImageClient* image_client, std::shared_ptr time_sync_api, + DefaultImageClient(::bosdyn::client::ImageClient* image_client, std::shared_ptr time_sync_api, const std::string& robot_name); - ~DefaultImageClientApi() = default; + ~DefaultImageClient() = default; tl::expected getImages(::bosdyn::api::GetImageRequest request) override; diff --git a/spot_driver_cpp/include/spot_driver_cpp/api/default_spot_api.hpp b/spot_driver_cpp/include/spot_driver_cpp/api/default_spot_api.hpp index 9abb9efc5..86d0cd3f3 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/api/default_spot_api.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/api/default_spot_api.hpp @@ -20,12 +20,12 @@ class DefaultSpotApi : public SpotApi { tl::expected createRobot(const std::string& ip_address, const std::string& robot_name) override; tl::expected authenticate(const std::string& username, const std::string& password) override; tl::expected hasArm() const override; - std::shared_ptr image_client_api() const override; + std::shared_ptr image_client_interface() const override; private: std::unique_ptr<::bosdyn::client::ClientSdk> client_sdk_; std::unique_ptr<::bosdyn::client::Robot> robot_; - std::shared_ptr image_client_api_; + std::shared_ptr image_client_interface_; std::shared_ptr time_sync_api_; std::string robot_name_; }; diff --git a/spot_driver_cpp/include/spot_driver_cpp/api/spot_api.hpp b/spot_driver_cpp/include/spot_driver_cpp/api/spot_api.hpp index a3cc5f01c..63ab7dc94 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/api/spot_api.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/api/spot_api.hpp @@ -2,7 +2,7 @@ #pragma once -#include +#include #include #include @@ -17,6 +17,6 @@ class SpotApi { virtual tl::expected createRobot(const std::string& ip_address, const std::string& robot_name) = 0; virtual tl::expected authenticate(const std::string& username, const std::string& password) = 0; virtual tl::expected hasArm() const = 0; - virtual std::shared_ptr image_client_api() const = 0; + virtual std::shared_ptr image_client_interface() const = 0; }; } // namespace spot_ros2 diff --git a/spot_driver_cpp/include/spot_driver_cpp/images/images_middleware_handle.hpp b/spot_driver_cpp/include/spot_driver_cpp/images/images_middleware_handle.hpp index f5cb676fb..4b7b7277e 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/images/images_middleware_handle.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/images/images_middleware_handle.hpp @@ -16,18 +16,46 @@ #include namespace spot_ros2::images { +/** + * @brief Implementation of SpotImagePublisher::MiddlewareHandle +*/ +class ImagesMiddlewareHandle : public SpotImagePublisher::MiddlewareHandle { + public: + /** + * @brief Constructor for ImagesMiddlewareHandle + * + * @param node A shared_ptr to an instance of a rclcpp::Node + */ + explicit ImagesMiddlewareHandle(std::shared_ptr node); -struct ImagesMiddlewareHandle : public SpotImagePublisher::MiddlewareHandle { - explicit ImagesMiddlewareHandle(const std::shared_ptr& node); - ~ImagesMiddlewareHandle() = default; + /** + * @brief Constructor for ImagesMiddlewareHandle which creates an instance of an rclcpp::node + * + * @param node_options Options for rclcpp::node initialization + */ + explicit ImagesMiddlewareHandle(const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions{}); - void createPublishers(const std::set& image_sources) override; - tl::expected publishImages(const std::map& images) override; + ~ImagesMiddlewareHandle() = default; - ParameterInterfaceBase* parameter_interface() override { return parameter_interface_.get(); } - LoggerInterfaceBase* logger_interface() override { return logger_interface_.get(); } - TfInterfaceBase* tf_interface() override { return tf_interface_.get(); } - TimerInterfaceBase* timer_interface() override { return timer_interface_.get(); } + /** + * @brief Populates the image_publishgers_ and info_publishers_ members with image and camera info publishers. + * @param image_sources Set of ImageSources. A publisher will be created for each ImageSource. + */ + void createPublishers(const std::set& image_sources) override; + + /** + * @brief Publishes image and camera info messages to ROS 2 topics. + * @param images Map of image sources to image and camera info data. + * @return If all images were published successfully, returns void. If there was an error, returns an error message. + */ + tl::expected publishImages(const std::map& images) override; + + ParameterInterfaceBase* parameter_interface() override { return parameter_interface_.get(); } + LoggerInterfaceBase* logger_interface() override { return logger_interface_.get(); } + TfInterfaceBase* tf_interface() override { return tf_interface_.get(); } + TimerInterfaceBase* timer_interface() override { return timer_interface_.get(); } + + std::shared_ptr node() override {return node_;} private: /** @brief Shared instance of an rclcpp node to create publishers */ diff --git a/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher.hpp b/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher.hpp index 7a2c990f4..08ce39c10 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher.hpp @@ -8,7 +8,7 @@ #include #include #include -#include +#include #include #include #include @@ -42,43 +42,36 @@ ::bosdyn::api::GetImageRequest createImageRequest(const std::set& s */ class SpotImagePublisher { public: - struct MiddlewareHandle { - virtual void createPublishers(const std::set& image_sources) = 0; - virtual tl::expected publishImages(const std::map& images) = 0; + /** + * @brief A handle class around rclcpp::Node operations for SpotImagePublisher + */ + class MiddlewareHandle { + public: + + virtual void createPublishers(const std::set& image_sources) = 0; + virtual tl::expected publishImages(const std::map& images) = 0; - virtual ParameterInterfaceBase* parameter_interface() = 0; - virtual LoggerInterfaceBase* logger_interface() = 0; - virtual TfInterfaceBase* tf_interface() = 0; - virtual TimerInterfaceBase* timer_interface() = 0; + virtual ParameterInterfaceBase* parameter_interface() = 0; + virtual LoggerInterfaceBase* logger_interface() = 0; + virtual TfInterfaceBase* tf_interface() = 0; + virtual TimerInterfaceBase* timer_interface() = 0; + virtual std::shared_ptr node() = 0; - virtual ~MiddlewareHandle() = default; + virtual ~MiddlewareHandle() = default; }; /** * @brief Constructor for SpotImagePublisher, which allows setting the specific implementation of the interface * classes which are used by the node. - * @details This is used to perform dependency injection in unit tests. + * @details This can be in production and to perform dependency injection in unit tests * - * @param image_client_api A unique_ptr to an instance of a class that implements ImageClientApi. - * @param timer_interface A unique_ptr to an instance of a class that implements TimerInterfaceBase. - * @param publisher_interface A unique_ptr to an instance of a class that implements PublisherInterfaceBase. - * @param parameter_interface A unique_ptr to an instance of a class that implements ParameterInterfaceBase. - * @param tf_interface A unique_ptr to an instance of a class that implements TfInterfaceBase. + * @param image_client_interface A shared_ptr to an instance of a class that implements ImageClientInterface. + * @param middleware_handle A unique_ptr to an instance of a class that implements SpotImagePublisher::MiddlewareHandle + * @param has_arm A flag indicating if the Spot in use has an arm. Needed to generate image sources during initialization. */ - SpotImagePublisher(std::shared_ptr image_client_api, + SpotImagePublisher(std::shared_ptr image_client_interface, std::unique_ptr middleware_handle, bool has_arm = false); - /** - * @brief Constuctor for SpotImagePublisher, which creates instances of rclcpp-specialized interface classes - * using the provided node. - * - * @param node ROS 2 node to use when creating the interfaces. - * @param image_client_api Spot SDK service client that can retrieve image data from spot cameras - * @param has_arm get hand camera data if arm is a part of the current configuration - */ - explicit SpotImagePublisher(const std::shared_ptr& node, - std::shared_ptr image_client_api, bool has_arm = false); - /** * @brief Connect to Spot and start publishing image data. * @@ -103,7 +96,7 @@ class SpotImagePublisher { std::optional<::bosdyn::api::GetImageRequest> image_request_message_; // Interface classes to interact with Spot and the middleware. - std::shared_ptr image_client_api_; + std::shared_ptr image_client_interface_; std::unique_ptr middleware_handle_; bool has_arm_; }; diff --git a/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher_node.hpp b/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher_node.hpp index 157d4cfe9..70d315900 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher_node.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher_node.hpp @@ -17,9 +17,9 @@ namespace spot_ros2::images { */ class SpotImagePublisherNode { public: - SpotImagePublisherNode(std::shared_ptr node, std::unique_ptr spot_api, - const std::shared_ptr& parameter_interface, - const std::shared_ptr& logger_interface); + SpotImagePublisherNode(std::unique_ptr spot_api, + std::unique_ptr mw_handle); + explicit SpotImagePublisherNode(const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions{}); /** diff --git a/spot_driver_cpp/include/spot_driver_cpp/api/image_client_api.hpp b/spot_driver_cpp/include/spot_driver_cpp/interfaces/image_client_interface.hpp similarity index 96% rename from spot_driver_cpp/include/spot_driver_cpp/api/image_client_api.hpp rename to spot_driver_cpp/include/spot_driver_cpp/interfaces/image_client_interface.hpp index dde8ad482..324d697db 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/api/image_client_api.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/interfaces/image_client_interface.hpp @@ -20,7 +20,7 @@ struct GetImagesResult { /** * @brief Defines an interface for a class to connect to and interact with Spot's Image client. */ -class ImageClientApi { +class ImageClientInterface { public: virtual tl::expected getImages(::bosdyn::api::GetImageRequest request) = 0; }; diff --git a/spot_driver_cpp/src/api/default_image_client_api.cpp b/spot_driver_cpp/src/api/default_image_client.cpp similarity index 97% rename from spot_driver_cpp/src/api/default_image_client_api.cpp rename to spot_driver_cpp/src/api/default_image_client.cpp index c3a835707..443aeca3c 100644 --- a/spot_driver_cpp/src/api/default_image_client_api.cpp +++ b/spot_driver_cpp/src/api/default_image_client.cpp @@ -1,6 +1,6 @@ // Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved. -#include +#include #include #include @@ -199,11 +199,11 @@ tl::expected, std::string> get namespace spot_ros2 { -DefaultImageClientApi::DefaultImageClientApi(::bosdyn::client::ImageClient* image_client, +DefaultImageClient::DefaultImageClient(::bosdyn::client::ImageClient* image_client, std::shared_ptr time_sync_api, const std::string& robot_name) : image_client_{image_client}, time_sync_api_{time_sync_api}, robot_name_{robot_name} {} -tl::expected DefaultImageClientApi::getImages(::bosdyn::api::GetImageRequest request) { +tl::expected DefaultImageClient::getImages(::bosdyn::api::GetImageRequest request) { std::shared_future<::bosdyn::client::GetImageResultType> get_image_result_future = image_client_->GetImageAsync(request); diff --git a/spot_driver_cpp/src/api/default_spot_api.cpp b/spot_driver_cpp/src/api/default_spot_api.cpp index f9ec3aa84..3e94de162 100644 --- a/spot_driver_cpp/src/api/default_spot_api.cpp +++ b/spot_driver_cpp/src/api/default_spot_api.cpp @@ -1,7 +1,7 @@ // Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved. #include -#include +#include #include #include @@ -50,8 +50,8 @@ tl::expected DefaultSpotApi::authenticate(const std::string& if (!image_client_result.status) { return tl::make_unexpected("Failed to create Image client."); } - image_client_api_ = - std::make_shared(image_client_result.response, time_sync_api_, robot_name_); + image_client_interface_ = + std::make_shared(image_client_result.response, time_sync_api_, robot_name_); return {}; } @@ -71,7 +71,7 @@ tl::expected DefaultSpotApi::hasArm() const { }) != services.cend(); } -std::shared_ptr DefaultSpotApi::image_client_api() const { - return image_client_api_; +std::shared_ptr DefaultSpotApi::image_client_interface() const { + return image_client_interface_; } } // namespace spot_ros2 diff --git a/spot_driver_cpp/src/images/images_middleware_handle.cpp b/spot_driver_cpp/src/images/images_middleware_handle.cpp index f3262bf9a..3a852dae0 100644 --- a/spot_driver_cpp/src/images/images_middleware_handle.cpp +++ b/spot_driver_cpp/src/images/images_middleware_handle.cpp @@ -17,13 +17,16 @@ constexpr auto kCameraInfoTopicSuffix = "camera_info"; namespace spot_ros2::images { -ImagesMiddlewareHandle::ImagesMiddlewareHandle(const std::shared_ptr& node) +ImagesMiddlewareHandle::ImagesMiddlewareHandle(std::shared_ptr node) : node_{node}, parameter_interface_{std::make_unique(node)}, logger_interface_{std::make_unique(node->get_logger())}, tf_interface_{std::make_unique(node)}, timer_interface_{std::make_unique(node)} {} +ImagesMiddlewareHandle::ImagesMiddlewareHandle(const rclcpp::NodeOptions& node_options) + : ImagesMiddlewareHandle(std::make_shared("image_publisher", node_options)) {} + void ImagesMiddlewareHandle::createPublishers(const std::set& image_sources) { image_publishers_.clear(); info_publishers_.clear(); diff --git a/spot_driver_cpp/src/images/spot_image_publisher.cpp b/spot_driver_cpp/src/images/spot_image_publisher.cpp index fd02535b6..fc39a3f0b 100644 --- a/spot_driver_cpp/src/images/spot_image_publisher.cpp +++ b/spot_driver_cpp/src/images/spot_image_publisher.cpp @@ -6,7 +6,7 @@ #include #include #include -#include +#include #include #include #include @@ -60,13 +60,9 @@ ::bosdyn::api::GetImageRequest createImageRequest(const std::set& s return request_message; } -SpotImagePublisher::SpotImagePublisher(std::shared_ptr image_client_api, +SpotImagePublisher::SpotImagePublisher(std::shared_ptr image_client_interface, std::unique_ptr middleware_handle, bool has_arm) - : image_client_api_{image_client_api}, middleware_handle_{std::move(middleware_handle)}, has_arm_{has_arm} {} - -SpotImagePublisher::SpotImagePublisher(const std::shared_ptr& node, - std::shared_ptr image_client_api, bool has_arm) - : SpotImagePublisher(image_client_api, std::make_unique(node), has_arm) {} + : image_client_interface_{image_client_interface}, middleware_handle_{std::move(middleware_handle)}, has_arm_{has_arm} {} bool SpotImagePublisher::initialize() { // These parameters all fall back to default values if the user did not set them at runtime @@ -101,7 +97,7 @@ void SpotImagePublisher::timerCallback() { return; } - const auto image_result = image_client_api_->getImages(*image_request_message_); + const auto image_result = image_client_interface_->getImages(*image_request_message_); if (!image_result.has_value()) { middleware_handle_->logger_interface()->logError( std::string{"Failed to get images: "}.append(image_result.error())); diff --git a/spot_driver_cpp/src/images/spot_image_publisher_node.cpp b/spot_driver_cpp/src/images/spot_image_publisher_node.cpp index 87a16f770..1360d3b5c 100644 --- a/spot_driver_cpp/src/images/spot_image_publisher_node.cpp +++ b/spot_driver_cpp/src/images/spot_image_publisher_node.cpp @@ -6,51 +6,48 @@ #include #include #include +#include namespace { constexpr auto kSDKClientName = "spot_image_publisher"; } namespace spot_ros2::images { -SpotImagePublisherNode::SpotImagePublisherNode(std::shared_ptr node, std::unique_ptr spot_api, - const std::shared_ptr& parameter_interface, - const std::shared_ptr& logger_interface) - : node_{node}, spot_api_{std::move(spot_api)} { - const auto address = parameter_interface->getAddress(); - const auto robot_name = parameter_interface->getSpotName(); - const auto username = parameter_interface->getUsername(); - const auto password = parameter_interface->getPassword(); +SpotImagePublisherNode::SpotImagePublisherNode(std::unique_ptr spot_api, + std::unique_ptr mw_handle) + : node_{mw_handle->node()}, spot_api_{std::move(spot_api)} { + const auto address = mw_handle->parameter_interface()->getAddress(); + const auto robot_name = mw_handle->parameter_interface()->getSpotName(); + const auto username = mw_handle->parameter_interface()->getUsername(); + const auto password = mw_handle->parameter_interface()->getPassword(); // create and authenticate robot if (const auto create_robot_result = spot_api_->createRobot(address, robot_name); !create_robot_result) { const auto error_msg{std::string{"Failed to create interface to robot: "}.append(create_robot_result.error())}; - logger_interface->logError(error_msg); + mw_handle->logger_interface()->logError(error_msg); throw std::runtime_error(error_msg); } if (const auto authentication_result = spot_api_->authenticate(username, password); !authentication_result) { const auto error_msg{std::string{"Failed to authenticate robot: "}.append(authentication_result.error())}; - logger_interface->logError(error_msg); + mw_handle->logger_interface()->logError(error_msg); throw std::runtime_error(error_msg); } const auto expected_has_arm = spot_api_->hasArm(); if (!expected_has_arm) { const auto error_msg{std::string{"Failed to check availability of spot arm: "}.append(expected_has_arm.error())}; - logger_interface->logError(error_msg); + mw_handle->logger_interface()->logError(error_msg); throw std::runtime_error(error_msg); } - internal_ = std::make_unique(node_, spot_api_->image_client_api(), expected_has_arm.value()); + internal_ = std::make_unique(spot_api_->image_client_interface(), std::move(mw_handle), expected_has_arm.value()); internal_->initialize(); } -SpotImagePublisherNode::SpotImagePublisherNode(const rclcpp::NodeOptions& node_options) { - auto node = std::make_shared("image_publisher", node_options); - *this = SpotImagePublisherNode(node, std::make_unique(kSDKClientName), - std::make_shared(node), - std::make_shared(node->get_logger())); -} +SpotImagePublisherNode::SpotImagePublisherNode(const rclcpp::NodeOptions& node_options) + : SpotImagePublisherNode{std::make_unique(kSDKClientName), + std::make_unique(node_options)} {} std::shared_ptr SpotImagePublisherNode::get_node_base_interface() { return node_->get_node_base_interface(); diff --git a/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_image_client_api.hpp b/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_image_client.hpp similarity index 72% rename from spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_image_client_api.hpp rename to spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_image_client.hpp index 789336d23..0a5f5283d 100644 --- a/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_image_client_api.hpp +++ b/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_image_client.hpp @@ -2,12 +2,12 @@ #include -#include +#include #include namespace spot_ros2::test { -class MockImageClientApi : public ImageClientApi { +class MockImageClient : public ImageClientInterface { public: MOCK_METHOD((tl::expected), getImages, (::bosdyn::api::GetImageRequest), (override)); }; diff --git a/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_spot_api.hpp b/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_spot_api.hpp index 9f3cd4cb8..55d3fb571 100644 --- a/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_spot_api.hpp +++ b/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_spot_api.hpp @@ -2,7 +2,7 @@ #include -#include +#include #include #include @@ -14,6 +14,6 @@ class MockSpotApi : public SpotApi { MOCK_METHOD((tl::expected), createRobot, (const std::string&, const std::string&), (override)); MOCK_METHOD((tl::expected), authenticate, (const std::string&, const std::string&), (override)); MOCK_METHOD((tl::expected), hasArm, (), (const, override)); - MOCK_METHOD(std::shared_ptr, image_client_api, (), (const, override)); + MOCK_METHOD(std::shared_ptr, image_client_interface, (), (const, override)); }; } // namespace spot_ros2::test diff --git a/spot_driver_cpp/test/src/images/test_spot_image_publisher.cpp b/spot_driver_cpp/test/src/images/test_spot_image_publisher.cpp index 9bda5f08c..905e590bb 100644 --- a/spot_driver_cpp/test/src/images/test_spot_image_publisher.cpp +++ b/spot_driver_cpp/test/src/images/test_spot_image_publisher.cpp @@ -2,12 +2,11 @@ #include -#include #include #include #include -#include +#include #include #include #include @@ -32,15 +31,13 @@ constexpr auto kExamplePassword{"hunter2"}; constexpr auto kSomeErrorMessage = "some error message"; -const GetImagesResult kEmptyImagesResults; - class FakeParameterInterface : public ParameterInterfaceBase { public: - std::string getAddress() const override { return address; } + std::string getAddress() const override { return kExampleAddress; } - std::string getUsername() const override { return username; } + std::string getUsername() const override { return kExampleUsername; } - std::string getPassword() const override { return password; } + std::string getPassword() const override { return kExamplePassword; } double getRGBImageQuality() const override { return rgb_image_quality; } @@ -54,10 +51,6 @@ class FakeParameterInterface : public ParameterInterfaceBase { std::string getSpotName() const override { return spot_name; } - std::string address; - std::string username; - std::string password; - double rgb_image_quality = kDefaultRGBImageQuality; bool has_rgb_cameras = kDefaultHasRGBCameras; bool publish_rgb_images = kDefaultPublishRGBImages; @@ -71,6 +64,7 @@ class MockMiddlewareHandle : public SpotImagePublisher::MiddlewareHandle { MOCK_METHOD(void, createPublishers, (const std::set& image_sources), (override)); MOCK_METHOD((tl::expected), publishImages, ((const std::map&)), (override)); + MOCK_METHOD(std::shared_ptr, node, (), (override)); ParameterInterfaceBase* parameter_interface() override { return parameter_interface_.get(); } LoggerInterfaceBase* logger_interface() override { return logger_interface_.get(); } @@ -86,47 +80,19 @@ class MockMiddlewareHandle : public SpotImagePublisher::MiddlewareHandle { std::make_unique(); }; -class TestInitSpotImagePublisherParametersUnset : public ::testing::Test { +class TestInitSpotImagePublisher : public ::testing::Test { public: void create_image_publisher(bool has_arm) { - image_publisher = std::make_unique(image_client_api, std::move(middleware_handle), has_arm); + image_publisher = std::make_unique(image_client_interface, std::move(middleware_handle), has_arm); } - std::shared_ptr image_client_api = - std::make_shared(); + std::shared_ptr image_client_interface = + std::make_shared(); std::unique_ptr middleware_handle = std::make_unique(); std::unique_ptr image_publisher; }; -class TestInitSpotImagePublisher : public TestInitSpotImagePublisherParametersUnset { - public: - void SetUp() override { - auto parameter_interface_ptr = middleware_handle->parameter_interface_.get(); - - parameter_interface_ptr->address = kExampleAddress; - parameter_interface_ptr->username = kExampleUsername; - parameter_interface_ptr->password = kExamplePassword; - } -}; - class TestRunSpotImagePublisher : public TestInitSpotImagePublisher { - public: - void SetUp() override { - auto parameter_interface_ptr = middleware_handle->parameter_interface_.get(); - - parameter_interface_ptr->address = kExampleAddress; - parameter_interface_ptr->username = kExampleUsername; - parameter_interface_ptr->password = kExamplePassword; - } - - void create_image_publisher(bool has_arm) { - image_publisher = std::make_unique(image_client_api, std::move(middleware_handle), has_arm); - } - - std::shared_ptr image_client_api = - std::make_shared(); - std::unique_ptr middleware_handle = std::make_unique(); - std::unique_ptr image_publisher; }; TEST_F(TestInitSpotImagePublisher, InitSucceeds) { @@ -166,7 +132,7 @@ TEST_F(TestRunSpotImagePublisher, PublishCallbackTriggersWithArm) { // THEN the images we received from the Spot interface are published // THEN the static transforms to the image frames are updated InSequence seq; - EXPECT_CALL(*image_client_api, getImages(Property(&::bosdyn::api::GetImageRequest::image_requests_size, 18))); + EXPECT_CALL(*image_client_interface, getImages(Property(&::bosdyn::api::GetImageRequest::image_requests_size, 18))); EXPECT_CALL(*middleware_handle, publishImages); EXPECT_CALL(*middleware_handle->tf_interface_, updateStaticTransforms); } @@ -203,7 +169,7 @@ TEST_F(TestRunSpotImagePublisher, PublishCallbackTriggersWithNoArm) { // THEN the images we received from the Spot interface are published // THEN the static transforms to the image frames are updated InSequence seq; - EXPECT_CALL(*image_client_api, getImages(Property(&::bosdyn::api::GetImageRequest::image_requests_size, 15))); + EXPECT_CALL(*image_client_interface, getImages(Property(&::bosdyn::api::GetImageRequest::image_requests_size, 15))); EXPECT_CALL(*middleware_handle, publishImages); EXPECT_CALL(*middleware_handle->tf_interface_, updateStaticTransforms); } diff --git a/spot_driver_cpp/test/src/images/test_spot_image_publisher_node.cpp b/spot_driver_cpp/test/src/images/test_spot_image_publisher_node.cpp index 469745404..b9577c6e7 100644 --- a/spot_driver_cpp/test/src/images/test_spot_image_publisher_node.cpp +++ b/spot_driver_cpp/test/src/images/test_spot_image_publisher_node.cpp @@ -2,13 +2,14 @@ #include -#include #include #include -#include +#include #include #include +#include +#include #include #include @@ -24,6 +25,12 @@ using ::testing::Return; namespace spot_ros2::images::test { +constexpr auto kExampleAddress{"192.168.0.10"}; +constexpr auto kExampleUsername{"spot_user"}; +constexpr auto kExamplePassword{"hunter2"}; + +constexpr auto kSomeErrorMessage = "some error message"; + class FakeParameterInterface : public ParameterInterfaceBase { public: std::string getAddress() const override { return address; } @@ -56,23 +63,46 @@ class FakeParameterInterface : public ParameterInterfaceBase { std::string spot_name; }; +class MockMiddlewareHandle : public SpotImagePublisher::MiddlewareHandle { + public: + MOCK_METHOD(void, createPublishers, (const std::set& image_sources), (override)); + MOCK_METHOD((tl::expected), publishImages, ((const std::map&)), + (override)); + MOCK_METHOD(std::shared_ptr, node, (), (override)); + + MOCK_METHOD(ParameterInterfaceBase*, parameter_interface, (), (override)); + MOCK_METHOD(LoggerInterfaceBase*, logger_interface, (), (override)); + TfInterfaceBase* tf_interface() override { return tf_interface_.get(); } + TimerInterfaceBase* timer_interface() override { return timer_interface_.get(); } + + std::unique_ptr parameter_interface_ = std::make_unique(); + std::unique_ptr logger_interface_ = + std::make_unique(); + std::unique_ptr tf_interface_ = + std::make_unique(); + std::unique_ptr timer_interface_ = + std::make_unique(); +}; + class SpotImagePubNodeTestFixture : public ::testing::Test { public: void SetUp() override { - rclcpp::init(0, nullptr); - node = std::make_shared("test_image_publisher_node"); fake_parameter_interface = std::make_shared(); mock_logger_interface = std::make_shared(); mock_spot_api = std::make_unique(); - } + mock_middleware_handle = std::make_unique(); - void TearDown() override { rclcpp::shutdown(); } + ON_CALL(*mock_middleware_handle, parameter_interface()) + .WillByDefault(Return(fake_parameter_interface.get())); + ON_CALL(*mock_middleware_handle, logger_interface()) + .WillByDefault(Return(mock_logger_interface.get())); + } protected: - std::shared_ptr node; std::shared_ptr fake_parameter_interface; std::shared_ptr mock_logger_interface; std::unique_ptr mock_spot_api; + std::unique_ptr mock_middleware_handle; }; TEST_F(SpotImagePubNodeTestFixture, Construction_Success) { @@ -82,11 +112,11 @@ TEST_F(SpotImagePubNodeTestFixture, Construction_Success) { EXPECT_CALL(*mock_spot_api, createRobot).Times(1); EXPECT_CALL(*mock_spot_api, authenticate).Times(1); EXPECT_CALL(*mock_spot_api, hasArm).Times(1); - EXPECT_CALL(*mock_spot_api, image_client_api).Times(1); + EXPECT_CALL(*mock_spot_api, image_client_interface).Times(1); // WHEN constructing a SpotImagePublisherNode EXPECT_NO_THROW( - SpotImagePublisherNode(node, std::move(mock_spot_api), fake_parameter_interface, mock_logger_interface)); + SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle))); } TEST_F(SpotImagePubNodeTestFixture, Construction_Create_Robot_failure) { @@ -96,10 +126,10 @@ TEST_F(SpotImagePubNodeTestFixture, Construction_Create_Robot_failure) { EXPECT_CALL(*mock_spot_api, createRobot).Times(1).WillOnce(Return(tl::make_unexpected("Create Robot Failed"))); EXPECT_CALL(*mock_spot_api, authenticate).Times(0); EXPECT_CALL(*mock_spot_api, hasArm).Times(0); - EXPECT_CALL(*mock_spot_api, image_client_api).Times(0); + EXPECT_CALL(*mock_spot_api, image_client_interface).Times(0); // WHEN constructing a SpotImagePublisherNode - EXPECT_THROW(SpotImagePublisherNode(node, std::move(mock_spot_api), fake_parameter_interface, mock_logger_interface), + EXPECT_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle)), std::exception); } @@ -112,10 +142,10 @@ TEST_F(SpotImagePubNodeTestFixture, Construction_Authentication_failure) { .Times(1) .WillOnce(Return(tl::make_unexpected("Robot Authentication Failed"))); EXPECT_CALL(*mock_spot_api, hasArm).Times(0); - EXPECT_CALL(*mock_spot_api, image_client_api).Times(0); + EXPECT_CALL(*mock_spot_api, image_client_interface).Times(0); } // WHEN constructing a SpotImagePublisherNode - EXPECT_THROW(SpotImagePublisherNode(node, std::move(mock_spot_api), fake_parameter_interface, mock_logger_interface), + EXPECT_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle)), std::exception); } @@ -126,10 +156,10 @@ TEST_F(SpotImagePubNodeTestFixture, Construction_hasArm_failure) { EXPECT_CALL(*mock_spot_api, createRobot).Times(1); EXPECT_CALL(*mock_spot_api, authenticate).Times(1); EXPECT_CALL(*mock_spot_api, hasArm).Times(1).WillOnce(Return(tl::make_unexpected("has_arm failed"))); - EXPECT_CALL(*mock_spot_api, image_client_api).Times(0); + EXPECT_CALL(*mock_spot_api, image_client_interface).Times(0); } // WHEN constructing a SpotImagePublisherNode - EXPECT_THROW(SpotImagePublisherNode(node, std::move(mock_spot_api), fake_parameter_interface, mock_logger_interface), + EXPECT_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle)), std::exception); } From 8ee7cecc35d35e332ed99289e300300ce67f0ef2 Mon Sep 17 00:00:00 2001 From: Anthony Baker Date: Mon, 4 Dec 2023 14:14:08 -0700 Subject: [PATCH 2/4] pre-commit --- .../api/default_image_client.hpp | 4 +- .../images/images_middleware_handle.hpp | 62 +++++++++---------- .../images/spot_image_publisher.hpp | 29 ++++----- .../images/spot_image_publisher_node.hpp | 2 +- .../src/api/default_image_client.cpp | 2 +- .../src/images/spot_image_publisher.cpp | 4 +- .../src/images/spot_image_publisher_node.cpp | 9 +-- .../spot_driver_cpp/mock/mock_spot_api.hpp | 2 +- .../src/images/test_spot_image_publisher.cpp | 6 +- .../images/test_spot_image_publisher_node.cpp | 18 ++---- 10 files changed, 68 insertions(+), 70 deletions(-) diff --git a/spot_driver_cpp/include/spot_driver_cpp/api/default_image_client.hpp b/spot_driver_cpp/include/spot_driver_cpp/api/default_image_client.hpp index f56a2436e..169334fee 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/api/default_image_client.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/api/default_image_client.hpp @@ -4,9 +4,9 @@ #include #include -#include #include #include +#include #include #include @@ -18,7 +18,7 @@ namespace spot_ros2 { class DefaultImageClient : public ImageClientInterface { public: DefaultImageClient(::bosdyn::client::ImageClient* image_client, std::shared_ptr time_sync_api, - const std::string& robot_name); + const std::string& robot_name); ~DefaultImageClient() = default; tl::expected getImages(::bosdyn::api::GetImageRequest request) override; diff --git a/spot_driver_cpp/include/spot_driver_cpp/images/images_middleware_handle.hpp b/spot_driver_cpp/include/spot_driver_cpp/images/images_middleware_handle.hpp index 4b7b7277e..25b1040e0 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/images/images_middleware_handle.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/images/images_middleware_handle.hpp @@ -18,44 +18,44 @@ namespace spot_ros2::images { /** * @brief Implementation of SpotImagePublisher::MiddlewareHandle -*/ + */ class ImagesMiddlewareHandle : public SpotImagePublisher::MiddlewareHandle { - public: - /** - * @brief Constructor for ImagesMiddlewareHandle - * - * @param node A shared_ptr to an instance of a rclcpp::Node - */ - explicit ImagesMiddlewareHandle(std::shared_ptr node); + public: + /** + * @brief Constructor for ImagesMiddlewareHandle + * + * @param node A shared_ptr to an instance of a rclcpp::Node + */ + explicit ImagesMiddlewareHandle(std::shared_ptr node); - /** - * @brief Constructor for ImagesMiddlewareHandle which creates an instance of an rclcpp::node - * - * @param node_options Options for rclcpp::node initialization - */ - explicit ImagesMiddlewareHandle(const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions{}); + /** + * @brief Constructor for ImagesMiddlewareHandle which creates an instance of an rclcpp::node + * + * @param node_options Options for rclcpp::node initialization + */ + explicit ImagesMiddlewareHandle(const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions{}); - ~ImagesMiddlewareHandle() = default; + ~ImagesMiddlewareHandle() = default; - /** - * @brief Populates the image_publishgers_ and info_publishers_ members with image and camera info publishers. - * @param image_sources Set of ImageSources. A publisher will be created for each ImageSource. - */ - void createPublishers(const std::set& image_sources) override; + /** + * @brief Populates the image_publishgers_ and info_publishers_ members with image and camera info publishers. + * @param image_sources Set of ImageSources. A publisher will be created for each ImageSource. + */ + void createPublishers(const std::set& image_sources) override; - /** - * @brief Publishes image and camera info messages to ROS 2 topics. - * @param images Map of image sources to image and camera info data. - * @return If all images were published successfully, returns void. If there was an error, returns an error message. - */ - tl::expected publishImages(const std::map& images) override; + /** + * @brief Publishes image and camera info messages to ROS 2 topics. + * @param images Map of image sources to image and camera info data. + * @return If all images were published successfully, returns void. If there was an error, returns an error message. + */ + tl::expected publishImages(const std::map& images) override; - ParameterInterfaceBase* parameter_interface() override { return parameter_interface_.get(); } - LoggerInterfaceBase* logger_interface() override { return logger_interface_.get(); } - TfInterfaceBase* tf_interface() override { return tf_interface_.get(); } - TimerInterfaceBase* timer_interface() override { return timer_interface_.get(); } + ParameterInterfaceBase* parameter_interface() override { return parameter_interface_.get(); } + LoggerInterfaceBase* logger_interface() override { return logger_interface_.get(); } + TfInterfaceBase* tf_interface() override { return tf_interface_.get(); } + TimerInterfaceBase* timer_interface() override { return timer_interface_.get(); } - std::shared_ptr node() override {return node_;} + std::shared_ptr node() override { return node_; } private: /** @brief Shared instance of an rclcpp node to create publishers */ diff --git a/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher.hpp b/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher.hpp index 08ce39c10..a01700abb 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher.hpp @@ -8,8 +8,8 @@ #include #include #include -#include #include +#include #include #include #include @@ -44,20 +44,19 @@ class SpotImagePublisher { public: /** * @brief A handle class around rclcpp::Node operations for SpotImagePublisher - */ + */ class MiddlewareHandle { - public: - - virtual void createPublishers(const std::set& image_sources) = 0; - virtual tl::expected publishImages(const std::map& images) = 0; + public: + virtual void createPublishers(const std::set& image_sources) = 0; + virtual tl::expected publishImages(const std::map& images) = 0; - virtual ParameterInterfaceBase* parameter_interface() = 0; - virtual LoggerInterfaceBase* logger_interface() = 0; - virtual TfInterfaceBase* tf_interface() = 0; - virtual TimerInterfaceBase* timer_interface() = 0; - virtual std::shared_ptr node() = 0; + virtual ParameterInterfaceBase* parameter_interface() = 0; + virtual LoggerInterfaceBase* logger_interface() = 0; + virtual TfInterfaceBase* tf_interface() = 0; + virtual TimerInterfaceBase* timer_interface() = 0; + virtual std::shared_ptr node() = 0; - virtual ~MiddlewareHandle() = default; + virtual ~MiddlewareHandle() = default; }; /** @@ -66,8 +65,10 @@ class SpotImagePublisher { * @details This can be in production and to perform dependency injection in unit tests * * @param image_client_interface A shared_ptr to an instance of a class that implements ImageClientInterface. - * @param middleware_handle A unique_ptr to an instance of a class that implements SpotImagePublisher::MiddlewareHandle - * @param has_arm A flag indicating if the Spot in use has an arm. Needed to generate image sources during initialization. + * @param middleware_handle A unique_ptr to an instance of a class that implements + * SpotImagePublisher::MiddlewareHandle + * @param has_arm A flag indicating if the Spot in use has an arm. Needed to generate image sources during + * initialization. */ SpotImagePublisher(std::shared_ptr image_client_interface, std::unique_ptr middleware_handle, bool has_arm = false); diff --git a/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher_node.hpp b/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher_node.hpp index 70d315900..349f6f83c 100644 --- a/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher_node.hpp +++ b/spot_driver_cpp/include/spot_driver_cpp/images/spot_image_publisher_node.hpp @@ -19,7 +19,7 @@ class SpotImagePublisherNode { public: SpotImagePublisherNode(std::unique_ptr spot_api, std::unique_ptr mw_handle); - + explicit SpotImagePublisherNode(const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions{}); /** diff --git a/spot_driver_cpp/src/api/default_image_client.cpp b/spot_driver_cpp/src/api/default_image_client.cpp index 443aeca3c..3c772a4db 100644 --- a/spot_driver_cpp/src/api/default_image_client.cpp +++ b/spot_driver_cpp/src/api/default_image_client.cpp @@ -200,7 +200,7 @@ tl::expected, std::string> get namespace spot_ros2 { DefaultImageClient::DefaultImageClient(::bosdyn::client::ImageClient* image_client, - std::shared_ptr time_sync_api, const std::string& robot_name) + std::shared_ptr time_sync_api, const std::string& robot_name) : image_client_{image_client}, time_sync_api_{time_sync_api}, robot_name_{robot_name} {} tl::expected DefaultImageClient::getImages(::bosdyn::api::GetImageRequest request) { diff --git a/spot_driver_cpp/src/images/spot_image_publisher.cpp b/spot_driver_cpp/src/images/spot_image_publisher.cpp index fc39a3f0b..0a6581e04 100644 --- a/spot_driver_cpp/src/images/spot_image_publisher.cpp +++ b/spot_driver_cpp/src/images/spot_image_publisher.cpp @@ -62,7 +62,9 @@ ::bosdyn::api::GetImageRequest createImageRequest(const std::set& s SpotImagePublisher::SpotImagePublisher(std::shared_ptr image_client_interface, std::unique_ptr middleware_handle, bool has_arm) - : image_client_interface_{image_client_interface}, middleware_handle_{std::move(middleware_handle)}, has_arm_{has_arm} {} + : image_client_interface_{image_client_interface}, + middleware_handle_{std::move(middleware_handle)}, + has_arm_{has_arm} {} bool SpotImagePublisher::initialize() { // These parameters all fall back to default values if the user did not set them at runtime diff --git a/spot_driver_cpp/src/images/spot_image_publisher_node.cpp b/spot_driver_cpp/src/images/spot_image_publisher_node.cpp index 1360d3b5c..cdfdfa9f7 100644 --- a/spot_driver_cpp/src/images/spot_image_publisher_node.cpp +++ b/spot_driver_cpp/src/images/spot_image_publisher_node.cpp @@ -3,10 +3,10 @@ #include #include +#include #include #include #include -#include namespace { constexpr auto kSDKClientName = "spot_image_publisher"; @@ -41,13 +41,14 @@ SpotImagePublisherNode::SpotImagePublisherNode(std::unique_ptr spot_api throw std::runtime_error(error_msg); } - internal_ = std::make_unique(spot_api_->image_client_interface(), std::move(mw_handle), expected_has_arm.value()); + internal_ = std::make_unique(spot_api_->image_client_interface(), std::move(mw_handle), + expected_has_arm.value()); internal_->initialize(); } SpotImagePublisherNode::SpotImagePublisherNode(const rclcpp::NodeOptions& node_options) - : SpotImagePublisherNode{std::make_unique(kSDKClientName), - std::make_unique(node_options)} {} + : SpotImagePublisherNode{std::make_unique(kSDKClientName), + std::make_unique(node_options)} {} std::shared_ptr SpotImagePublisherNode::get_node_base_interface() { return node_->get_node_base_interface(); diff --git a/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_spot_api.hpp b/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_spot_api.hpp index 55d3fb571..926db8cc6 100644 --- a/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_spot_api.hpp +++ b/spot_driver_cpp/test/include/spot_driver_cpp/mock/mock_spot_api.hpp @@ -2,8 +2,8 @@ #include -#include #include +#include #include #include diff --git a/spot_driver_cpp/test/src/images/test_spot_image_publisher.cpp b/spot_driver_cpp/test/src/images/test_spot_image_publisher.cpp index 905e590bb..95ed17178 100644 --- a/spot_driver_cpp/test/src/images/test_spot_image_publisher.cpp +++ b/spot_driver_cpp/test/src/images/test_spot_image_publisher.cpp @@ -83,7 +83,8 @@ class MockMiddlewareHandle : public SpotImagePublisher::MiddlewareHandle { class TestInitSpotImagePublisher : public ::testing::Test { public: void create_image_publisher(bool has_arm) { - image_publisher = std::make_unique(image_client_interface, std::move(middleware_handle), has_arm); + image_publisher = + std::make_unique(image_client_interface, std::move(middleware_handle), has_arm); } std::shared_ptr image_client_interface = @@ -92,8 +93,7 @@ class TestInitSpotImagePublisher : public ::testing::Test { std::unique_ptr image_publisher; }; -class TestRunSpotImagePublisher : public TestInitSpotImagePublisher { -}; +class TestRunSpotImagePublisher : public TestInitSpotImagePublisher {}; TEST_F(TestInitSpotImagePublisher, InitSucceeds) { // THEN expect createPublishers to be invoked diff --git a/spot_driver_cpp/test/src/images/test_spot_image_publisher_node.cpp b/spot_driver_cpp/test/src/images/test_spot_image_publisher_node.cpp index b9577c6e7..44de8bb5e 100644 --- a/spot_driver_cpp/test/src/images/test_spot_image_publisher_node.cpp +++ b/spot_driver_cpp/test/src/images/test_spot_image_publisher_node.cpp @@ -92,10 +92,8 @@ class SpotImagePubNodeTestFixture : public ::testing::Test { mock_spot_api = std::make_unique(); mock_middleware_handle = std::make_unique(); - ON_CALL(*mock_middleware_handle, parameter_interface()) - .WillByDefault(Return(fake_parameter_interface.get())); - ON_CALL(*mock_middleware_handle, logger_interface()) - .WillByDefault(Return(mock_logger_interface.get())); + ON_CALL(*mock_middleware_handle, parameter_interface()).WillByDefault(Return(fake_parameter_interface.get())); + ON_CALL(*mock_middleware_handle, logger_interface()).WillByDefault(Return(mock_logger_interface.get())); } protected: @@ -115,8 +113,7 @@ TEST_F(SpotImagePubNodeTestFixture, Construction_Success) { EXPECT_CALL(*mock_spot_api, image_client_interface).Times(1); // WHEN constructing a SpotImagePublisherNode - EXPECT_NO_THROW( - SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle))); + EXPECT_NO_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle))); } TEST_F(SpotImagePubNodeTestFixture, Construction_Create_Robot_failure) { @@ -129,8 +126,7 @@ TEST_F(SpotImagePubNodeTestFixture, Construction_Create_Robot_failure) { EXPECT_CALL(*mock_spot_api, image_client_interface).Times(0); // WHEN constructing a SpotImagePublisherNode - EXPECT_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle)), - std::exception); + EXPECT_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle)), std::exception); } TEST_F(SpotImagePubNodeTestFixture, Construction_Authentication_failure) { @@ -145,8 +141,7 @@ TEST_F(SpotImagePubNodeTestFixture, Construction_Authentication_failure) { EXPECT_CALL(*mock_spot_api, image_client_interface).Times(0); } // WHEN constructing a SpotImagePublisherNode - EXPECT_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle)), - std::exception); + EXPECT_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle)), std::exception); } TEST_F(SpotImagePubNodeTestFixture, Construction_hasArm_failure) { @@ -159,8 +154,7 @@ TEST_F(SpotImagePubNodeTestFixture, Construction_hasArm_failure) { EXPECT_CALL(*mock_spot_api, image_client_interface).Times(0); } // WHEN constructing a SpotImagePublisherNode - EXPECT_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle)), - std::exception); + EXPECT_THROW(SpotImagePublisherNode(std::move(mock_spot_api), std::move(mock_middleware_handle)), std::exception); } } // namespace spot_ros2::images::test From 20965ef7bba98598ee10878c7b54e6ef28a300c6 Mon Sep 17 00:00:00 2001 From: David von Wrangel <130000995+wrangel-bdai@users.noreply.github.com> Date: Mon, 4 Dec 2023 16:30:14 -0500 Subject: [PATCH 3/4] Convert visual meshes to obj (#203) Co-authored-by: David von Wrangel --- .../meshes/arm/visual/arm_link_el0.obj | 13707 +- .../meshes/arm/visual/arm_link_el1.obj | 14192 +- .../meshes/arm/visual/arm_link_fngr.obj | 18698 +- .../meshes/arm/visual/arm_link_sh0.obj | 3756 +- .../meshes/arm/visual/arm_link_sh1.obj | 22999 +- .../meshes/arm/visual/arm_link_wr0.obj | 9016 +- .../meshes/arm/visual/arm_link_wr1.obj | 13935 +- spot_description/meshes/base/visual/body.dae | 119 - spot_description/meshes/base/visual/body.obj | 191223 +++++++++++++++ .../meshes/base/visual/front_left_hip.dae | 115 - .../meshes/base/visual/front_left_hip.obj | 38180 +++ .../base/visual/front_left_lower_leg.dae | 115 - .../base/visual/front_left_lower_leg.obj | 36936 +++ .../base/visual/front_left_upper_leg.dae | 115 - .../base/visual/front_left_upper_leg.obj | 39647 +++ .../meshes/base/visual/front_right_hip.dae | 115 - .../meshes/base/visual/front_right_hip.obj | 38137 +++ .../base/visual/front_right_lower_leg.dae | 115 - .../base/visual/front_right_lower_leg.obj | 36940 +++ .../base/visual/front_right_upper_leg.dae | 115 - .../base/visual/front_right_upper_leg.obj | 39695 +++ .../meshes/base/visual/lidar_mount.dae | 115 - .../meshes/base/visual/lidar_mount.obj | 5702 + .../meshes/base/visual/pack_body.dae | 115 - .../meshes/base/visual/pack_body.obj | 206 + .../meshes/base/visual/pack_top.dae | 115 - .../meshes/base/visual/pack_top.obj | 2270 + .../meshes/base/visual/rear_left_hip.dae | 115 - .../meshes/base/visual/rear_left_hip.obj | 38238 +++ .../base/visual/rear_left_lower_leg.dae | 115 - .../base/visual/rear_left_lower_leg.obj | 36992 +++ .../base/visual/rear_left_upper_leg.dae | 115 - .../base/visual/rear_left_upper_leg.obj | 39657 +++ .../meshes/base/visual/rear_right_hip.dae | 115 - .../meshes/base/visual/rear_right_hip.obj | 38142 +++ .../base/visual/rear_right_lower_leg.dae | 115 - .../base/visual/rear_right_lower_leg.obj | 36858 +++ .../base/visual/rear_right_upper_leg.dae | 115 - .../base/visual/rear_right_upper_leg.obj | 39743 +++ .../meshes/base/visual/spot_accessories.mtl | 12 + .../meshes/base/visual/spot_mat.png | Bin 1528 -> 1519 bytes spot_description/meshes/base/visual/velo.dae | 115 - spot_description/meshes/base/visual/velo.obj | 22154 ++ spot_description/meshes/spot.mtl | 19 + spot_description/urdf/accessories.urdf.xacro | 8 +- spot_description/urdf/spot_macro.xacro | 26 +- 46 files changed, 740274 insertions(+), 38773 deletions(-) delete mode 100644 spot_description/meshes/base/visual/body.dae create mode 100644 spot_description/meshes/base/visual/body.obj delete mode 100644 spot_description/meshes/base/visual/front_left_hip.dae create mode 100644 spot_description/meshes/base/visual/front_left_hip.obj delete mode 100644 spot_description/meshes/base/visual/front_left_lower_leg.dae create mode 100644 spot_description/meshes/base/visual/front_left_lower_leg.obj delete mode 100644 spot_description/meshes/base/visual/front_left_upper_leg.dae create mode 100644 spot_description/meshes/base/visual/front_left_upper_leg.obj delete mode 100644 spot_description/meshes/base/visual/front_right_hip.dae create mode 100644 spot_description/meshes/base/visual/front_right_hip.obj delete mode 100644 spot_description/meshes/base/visual/front_right_lower_leg.dae create mode 100644 spot_description/meshes/base/visual/front_right_lower_leg.obj delete mode 100644 spot_description/meshes/base/visual/front_right_upper_leg.dae create mode 100644 spot_description/meshes/base/visual/front_right_upper_leg.obj delete mode 100644 spot_description/meshes/base/visual/lidar_mount.dae create mode 100644 spot_description/meshes/base/visual/lidar_mount.obj delete mode 100644 spot_description/meshes/base/visual/pack_body.dae create mode 100644 spot_description/meshes/base/visual/pack_body.obj delete mode 100644 spot_description/meshes/base/visual/pack_top.dae create mode 100644 spot_description/meshes/base/visual/pack_top.obj delete mode 100644 spot_description/meshes/base/visual/rear_left_hip.dae create mode 100644 spot_description/meshes/base/visual/rear_left_hip.obj delete mode 100644 spot_description/meshes/base/visual/rear_left_lower_leg.dae create mode 100644 spot_description/meshes/base/visual/rear_left_lower_leg.obj delete mode 100644 spot_description/meshes/base/visual/rear_left_upper_leg.dae create mode 100644 spot_description/meshes/base/visual/rear_left_upper_leg.obj delete mode 100644 spot_description/meshes/base/visual/rear_right_hip.dae create mode 100644 spot_description/meshes/base/visual/rear_right_hip.obj delete mode 100644 spot_description/meshes/base/visual/rear_right_lower_leg.dae create mode 100644 spot_description/meshes/base/visual/rear_right_lower_leg.obj delete mode 100644 spot_description/meshes/base/visual/rear_right_upper_leg.dae create mode 100644 spot_description/meshes/base/visual/rear_right_upper_leg.obj create mode 100644 spot_description/meshes/base/visual/spot_accessories.mtl delete mode 100644 spot_description/meshes/base/visual/velo.dae create mode 100644 spot_description/meshes/base/visual/velo.obj create mode 100644 spot_description/meshes/spot.mtl diff --git a/spot_description/meshes/arm/visual/arm_link_el0.obj b/spot_description/meshes/arm/visual/arm_link_el0.obj index 4ed72c64a..ca1e304f6 100644 --- a/spot_description/meshes/arm/visual/arm_link_el0.obj +++ b/spot_description/meshes/arm/visual/arm_link_el0.obj @@ -1,283 +1,157 @@ -# Blender v2.79 (sub 0) OBJ File: 'el0.blend' -# www.blender.org +mtllib ../../spot.mtl + o arm0.link_el0.001 -v -0.018364 0.027724 0.013686 -v 0.025284 0.028325 -0.008365 v -0.001852 0.025841 -0.027115 v -0.005910 0.024456 -0.026937 v -0.006130 0.025841 -0.026478 v -0.014732 0.022691 -0.023484 v -0.013980 0.024456 -0.023765 -v 0.005244 0.028914 0.027308 -v 0.029432 0.023498 0.015256 -v 0.023969 0.027000 -0.000779 -v 0.023998 0.027000 0.000623 -v 0.025693 0.027735 0.002813 v -0.001707 0.027738 -0.024994 v 0.002281 0.027738 -0.024948 v -0.001791 0.026985 -0.026229 v -0.027086 0.026666 -0.001661 -v -0.021823 0.027488 0.012495 v 0.035831 0.022026 0.028675 -v 0.026227 0.027000 0.013034 -v 0.026627 0.027445 0.013264 -v 0.004463 0.026866 0.009216 v 0.013302 0.028955 0.030461 v 0.012901 0.028968 0.030743 v -0.025510 0.022730 -0.010925 -v -0.022983 0.027345 0.011661 -v 0.026346 0.026583 -0.004444 -v 0.026660 0.027960 -0.004552 -v 0.026469 0.025629 -0.004440 v 0.009415 0.028000 -0.021671 v 0.012734 0.028000 -0.019902 v 0.002393 0.026985 -0.026181 v 0.006517 0.026985 -0.025469 v 0.002474 0.025841 -0.027065 -v 0.012524 0.028914 0.002681 -v 0.014501 0.028914 -0.000534 -v 0.007514 0.028675 0.030409 -v -0.003322 0.029000 0.021180 v -0.008017 0.029000 0.020494 v -0.027449 0.025569 -0.001099 v -0.027425 0.025932 -0.000341 -v 0.015129 0.029000 0.017033 v -0.026190 0.028648 -0.000575 v -0.026779 0.028775 0.001338 v -0.001610 0.028000 -0.023572 v -0.005329 0.028000 -0.023018 -v 0.017274 0.029000 0.005319 -v -0.008993 0.027000 0.024024 -v -0.009344 0.027054 0.024227 v -0.024343 0.026985 -0.009928 -v -0.014600 0.027809 0.011265 v 0.006446 0.029005 0.030354 -v 0.007889 0.016678 0.028818 v 0.000600 0.016138 0.029244 -v -0.023858 0.027778 0.011432 v -0.024699 0.028000 0.010851 -v 0.018494 0.029000 0.003236 -v -0.013599 0.027809 0.011132 -v -0.009844 0.027646 0.024516 -v -0.012581 0.027676 0.020450 v -0.027304 0.026760 0.001051 v -0.027703 0.023000 0.001834 -v -0.010218 0.027000 0.015991 -v 0.028473 0.024031 -0.005944 -v 0.028379 0.025506 -0.005582 -v 0.028471 0.024750 -0.005700 v -0.019155 0.028914 -0.000649 -v -0.014380 0.028914 0.001975 -v 0.016919 0.028914 -0.003433 -v -0.009943 0.028914 0.005138 v 0.018094 0.025841 -0.020279 v 0.017503 0.026985 -0.019616 v 0.020393 0.026985 -0.016591 -v 0.027526 0.027445 0.011532 v 0.002654 0.024456 -0.027462 v -0.001713 0.024456 -0.027535 v -0.002499 0.016250 0.029143 v -0.024048 0.028757 -0.002484 -v -0.025257 0.028566 -0.002032 v -0.019065 0.027738 -0.016252 v -0.022459 0.026985 -0.013665 v -0.021402 0.027738 -0.013021 v -0.005651 0.027738 -0.024406 -v 0.028503 0.027000 0.018018 -v 0.027754 0.027000 0.017423 -v 0.028811 0.027434 0.017237 v -0.023397 0.024456 -0.014599 v -0.023219 0.025841 -0.014126 v -0.020683 0.025841 -0.017631 v -0.017981 0.028000 -0.015328 v -0.015321 0.028000 -0.017987 -v 0.016454 0.029000 0.022830 v 0.020550 0.029000 0.000994 -v -0.020390 0.027640 0.013167 -v 0.029324 0.027727 0.008830 -v 0.027809 0.025625 -0.005512 -v 0.028637 0.027612 0.009601 v 0.045901 0.018493 0.024178 -v -0.019385 0.027749 0.013646 -v 0.016303 0.029000 0.007530 -v -0.014292 0.025500 0.012917 -v -0.014750 0.025500 0.013375 v -0.009452 0.027738 -0.023201 v -0.009919 0.026985 -0.024347 -v 0.000925 0.027000 0.009983 -v 0.015531 0.029000 0.019414 -v 0.024888 0.027718 -0.000714 -v -0.013429 0.025500 0.015203 -v -0.005764 0.028795 0.008659 v -0.023053 0.018500 -0.015276 v -0.019926 0.018521 -0.019322 v -0.026633 0.023183 0.007768 v -0.026556 0.023255 0.008002 -v 0.011342 0.028927 0.024614 -v 0.012857 0.028914 0.028833 v -0.026516 0.025713 -0.006150 v -0.025166 0.025841 -0.010263 v -0.005879 0.022675 -0.027147 v -0.001650 0.022730 -0.027717 -v 0.028425 0.027675 0.007811 v 0.030423 0.027000 0.018191 v 0.006955 0.024456 -0.026701 v 0.006737 0.025841 -0.026330 -v 0.009602 0.028914 0.013540 v 0.018544 0.023000 -0.020662 v 0.018409 0.024456 -0.020560 v 0.021329 0.022663 -0.017797 v -0.020811 0.023000 -0.018376 v -0.021005 0.024456 -0.017906 -v 0.015161 0.029000 0.012213 -v 0.007704 0.026845 0.006498 -v 0.025072 0.027709 0.001726 -v 0.026762 0.027373 0.015565 -v 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1765 1764 1765 1759 1830 1767 2605 2586 3874 3791 1769 1768 2706 2709 3374 3283 7687 7676 10604 10603 11616 11595 4842 4841 5380 5379 7439 7428 11050 2895 14132 13727 5782 1615 7425 7416 13564 13388 3934 16523 2436 7868 9922 2648 2672 9931 10133 2672 11469 2996 11837 3098 11997 3155 3431 3404 6055 1737 2458 2466 2621 2601 2666 9942 2708 10385 3387 3388 3428 3426 3432 3428 3474 3454 15593 3473

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1120 2586 8078 1366 2587 8079 1117 2587 8080 1237 2587 8081 1201 2588 8082 1229 2588 8083 1195 2588 8084 1368 2589 8085 1320 2589 8086 1274 2589 8087 1291 2590 8088 1370 2590 8089 1410 2590 8090 1282 2591 8091 1368 2591 8092 1274 2591 8093 1371 2592 8094 1304 2592 8095 1264 2592 8096 1287 2593 8097 1349 2593 8098 1217 2593 8099 1330 2594 8100 1322 2594 8101 1240 2594 8102 1369 2595 8103 1355 2595 8104 1352 2595 8105 1369 2596 8106 1358 2596 8107 1355 2596 8108 1373 2597 8109 1289 2597 8110 1350 2597 8111 1365 2598 8112 1372 2598 8113 1344 2598 8114 1321 2599 8115 1372 2599 8116 1365 2599 8117 1367 2600 8118 1316 2600 8119 1277 2600 8120 1284 2601 8121 1291 2601 8122 1221 2601 8123 1210 2602 8124 1409 2602 8125 1279 2602 8126 1344 2603 8127 5525 2603 8128 1288 2603 8129 5525 2604 8130 5526 2604 8131 1288 2604 8132 1374 2605 8133 1302 2605 8134 1285 2605 8135 1374 2606 8136 5527 2606 8137 1302 2606 8138 1372 2607 8139 5528 2607 8140 1344 2607 8141 5528 2608 8142 5525 2608 8143 1344 2608 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1189 2720 8478 1503 2720 8479 1196 2720 8480 5544 2721 8481 1393 2721 8482 1350 2721 8483 1423 2722 8484 1404 2722 8485 1378 2722 8486 5536 2723 8487 1405 2723 8488 1323 2723 8489 1408 2724 8490 5548 2724 8491 1311 2724 8492 5548 2725 8493 5535 2725 8494 1311 2725 8495 1316 2726 8496 1429 2726 8497 1287 2726 8498 1445 2727 8499 1456 2727 8500 1388 2727 8501 1227 2728 8502 1444 2728 8503 1154 2728 8504 1423 2729 8505 1426 2729 8506 1404 2729 8507 1382 2730 8508 1433 2730 8509 1385 2730 8510 1428 2731 8511 1345 2731 8512 1279 2731 8513 1409 2732 8514 1428 2732 8515 1279 2732 8516 1377 2733 8517 5552 2733 8518 1410 2733 8519 5552 2734 8520 1417 2734 8521 1410 2734 8522 1367 2735 8523 1429 2735 8524 1316 2735 8525 1276 2736 8526 1430 2736 8527 1228 2736 8528 1195 2737 8529 1431 2737 8530 1197 2737 8531 1442 2738 8532 1503 2738 8533 1189 2738 8534 5544 2739 8535 1432 2739 8536 1393 2739 8537 1420 2740 8538 1346 2740 8539 1258 2740 8540 1421 2741 8541 1351 2741 8542 1366 2741 8543 1436 2742 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34332 5617 11315 34333 5551 11315 34334 5681 11316 34335 5567 11316 34336 5553 11316 34337 5613 11317 34338 5692 11317 34339 5589 11317 34340 5648 11318 34341 5642 11318 34342 5635 11318 34343 5642 11319 34344 5649 11319 34345 5635 11319 34346 5649 11320 34347 5627 11320 34348 5642 11320 34349 5651 11321 34350 1535 11321 34351 1491 11321 34352 1535 11322 34353 1492 11322 34354 1491 11322 34355 1534 11323 34356 5652 11323 34357 5618 11323 34358 5585 11324 34359 5644 11324 34360 5605 11324 34361 5649 11325 34362 5642 11325 34363 5648 11325 34364 5523 11326 34365 5654 11326 34366 5609 11326 34367 5604 11327 34368 5568 11327 34369 5570 11327 34370 5626 11328 34371 5603 11328 34372 5571 11328 34373 5636 11329 34374 5562 11329 34375 5604 11329 34376 5562 11330 34377 5579 11330 34378 5604 11330 34379 5579 11331 34380 5568 11331 34381 5604 11331 34382 5628 11332 34383 5638 11332 34384 5603 11332 34385 5626 11333 34386 5628 11333 34387 5603 11333 34388 5568 11334 34389 5579 11334 34390 5542 11334 34391 5655 11335 34392 5651 11335 34393 1491 11335 34394 5648 11336 34395 5627 11336 34396 5649 11336 34397 5579 11337 34398 5562 11337 34399 5479 11337 34400 5644 11338 34401 5653 11338 34402 5605 11338 34403 5609 11339 34404 5681 11339 34405 5553 11339 34406 5652 11340 34407 5656 11340 34408 5618 11340 34409 5657 11341 34410 5652 11341 34411 1534 11341 34412 5631 11342 34413 5683 11342 34414 5623 11342 34415 5678 11343 34416 5684 11343 34417 5621 11343 34418 5684 11344 34419 5680 11344 34420 5621 11344 34421 5680 11345 34422 5665 11345 34423 5621 11345 34424 5638 11346 34425 5524 11346 34426 5577 11346 34427 5662 11347 34428 5523 11347 34429 5392 11347 34430 5562 11348 34431 5636 11348 34432 5454 11348 34433 5636 11349 34434 5663 11349 34435 5454 11349 34436 5664 11350 34437 5453 11350 34438 5454 11350 34439 5663 11351 34440 5664 11351 34441 5454 11351 34442 5638 11352 34443 5628 11352 34444 5524 11352 34445 5653 11353 34446 5629 11353 34447 5605 11353 34448 5665 11354 34449 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11551 1994 3850 11552 2000 3851 11553 1910 3851 11554 1999 3851 11555 1927 3852 11556 2016 3852 11557 1847 3852 11558 2016 3853 11559 2017 3853 11560 2014 3853 11561 2018 3854 11562 2015 3854 11563 2012 3854 11564 1927 3855 11565 2014 3855 11566 2016 3855 11567 2013 3856 11568 2015 3856 11569 2012 3856 11570 2018 3857 11571 1994 3857 11572 2015 3857 11573 2002 3858 11574 2019 3858 11575 1788 3858 11576 1927 3859 11577 2017 3859 11578 2014 3859 11579 2017 3860 11580 2013 3860 11581 2014 3860 11582 2013 3861 11583 2018 3861 11584 2015 3861 11585 1927 3862 11586 2013 3862 11587 2017 3862 11588 1962 3863 11589 1987 3863 11590 1951 3863 11591 1984 3864 11592 1937 3864 11593 1939 3864 11594 2021 3865 11595 1937 3865 11596 1984 3865 11597 1962 3866 11598 2021 3866 11599 1987 3866 11600 2021 3867 11601 2008 3867 11602 1987 3867 11603 2008 3868 11604 2021 3868 11605 1984 3868 11606 1978 3869 11607 1970 3869 11608 1640 3869 11609 2007 3870 11610 1886 3870 11611 1853 3870 11612 1997 3871 11613 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3892 11676 2289 3892 11677 1596 3892 11678 1757 3893 11679 2031 3893 11680 1596 3893 11681 1927 3894 11682 2035 3894 11683 2013 3894 11684 2007 3895 11685 2032 3895 11686 1886 3895 11687 2033 3896 11688 2022 3896 11689 2013 3896 11690 2034 3897 11691 1980 3897 11692 1855 3897 11693 2033 3898 11694 1944 3898 11695 2022 3898 11696 2035 3899 11697 2033 3899 11698 2013 3899 11699 1886 3900 11700 2032 3900 11701 1923 3900 11702 2000 3901 11703 1883 3901 11704 1910 3901 11705 2023 3902 11706 1466 3902 11707 1788 3902 11708 2037 3903 11709 2033 3903 11710 2022 3903 11711 2035 3904 11712 2037 3904 11713 2033 3904 11714 2037 3905 11715 1944 3905 11716 2033 3905 11717 1874 3906 11718 2162 3906 11719 1925 3906 11720 2025 3907 11721 2039 3907 11722 1794 3907 11723 2039 3908 11724 1956 3908 11725 1794 3908 11726 2040 3909 11727 2030 3909 11728 2011 3909 11729 1904 3910 11730 1894 3910 11731 1815 3910 11732 2043 3911 11733 2036 3911 11734 2010 3911 11735 1883 3912 11736 1986 3912 11737 1910 3912 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8834 1423 2944 8835 1378 2944 8836 1371 2944 8837 1386 2945 8838 1320 2945 8839 1358 2945 8840 1362 2946 8841 1376 2946 8842 1349 2946 8843 1387 2947 8844 1374 2947 8845 1369 2947 8846 1385 2948 8847 1387 2948 8848 1369 2948 8849 1392 2949 8850 1393 2949 8851 1371 2949 8852 1393 2950 8853 1423 2950 8854 1371 2950 8855 1394 2951 8856 1373 2951 8857 1377 2951 8858 1390 2952 8859 1394 2952 8860 1377 2952 8861 1367 2953 8862 1391 2953 8863 1363 2953 8864 1397 2954 8865 1402 2954 8866 1363 2954 8867 1402 2955 8868 1386 2955 8869 1363 2955 8870 1394 2956 8871 1389 2956 8872 1373 2956 8873 1382 2957 8874 1393 2957 8875 1391 2957 8876 1398 2958 8877 1389 2958 8878 1385 2958 8879 1388 2959 8880 1362 2959 8881 1349 2959 8882 1391 2960 8883 1397 2960 8884 1370 2960 8885 1375 2961 8886 1395 2961 8887 1374 2961 8888 1395 2962 8889 1387 2962 8890 1374 2962 8891 1393 2963 8892 1396 2963 8893 1391 2963 8894 1387 2964 8895 1398 2964 8896 1385 2964 8897 1386 2965 8898 1399 2965 8899 1320 2965 8900 1400 2966 8901 1376 2966 8902 1362 2966 8903 1397 2967 8904 1391 2967 8905 1367 2967 8906 1396 2968 8907 1393 2968 8908 1392 2968 8909 1391 2969 8910 1396 2969 8911 1392 2969 8912 1401 2970 8913 1395 2970 8914 1376 2970 8915 1395 2971 8916 1375 2971 8917 1376 2971 8918 1388 2972 8919 1400 2972 8920 1362 2972 8921 1391 2973 8922 1402 2973 8923 1397 2973 8924 1386 2974 8925 1402 2974 8926 1367 2974 8927 1402 2975 8928 1397 2975 8929 1367 2975 8930 1395 2976 8931 1401 2976 8932 1375 2976 8933 1401 2977 8934 1376 2977 8935 1375 2977 8936 1395 2978 8937 1398 2978 8938 1387 2978 8939 1404 2979 8940 1396 2979 8941 1391 2979 8942 1355 2980 8943 1403 2980 8944 1362 2980 8945 1403 2981 8946 1400 2981 8947 1362 2981 8948 1404 2982 8949 1402 2982 8950 1391 2982 8951 1401 2983 8952 1388 2983 8953 1376 2983 8954 1402 2984 8955 1399 2984 8956 1386 2984 8957 1400 2985 8958 1401 2985 8959 1376 2985 8960 1400 2986 8961 1355 2986 8962 1362 2986 8963 1412 2987 8964 1404 2987 8965 1391 2987 8966 1402 2988 8967 1412 2988 8968 1391 2988 8969 1404 2989 8970 1412 2989 8971 1402 2989 8972 1401 2990 8973 1398 2990 8974 1395 2990 8975 1401 2991 8976 1400 2991 8977 1388 2991 8978 1380 2992 8979 1407 2992 8980 1352 2992 8981 2747 2993 8982 2746 2993 8983 1361 2993 8984 2746 2994 8985 1383 2994 8986 1361 2994 8987 1399 2995 8988 1406 2995 8989 1320 2995 8990 1408 2996 8991 1361 2996 8992 1353 2996 8993 1413 2997 8994 1357 2997 8995 1352 2997 8996 1410 2998 8997 1403 2998 8998 1355 2998 8999 1400 2999 9000 1403 2999 9001 1355 2999 9002 1427 3000 9003 2747 3000 9004 1361 3000 9005 1424 3001 9006 1399 3001 9007 1402 3001 9008 1412 3002 9009 1424 3002 9010 1402 3002 9011 1400 3003 9012 1398 3003 9013 1401 3003 9014 1411 3004 9015 1409 3004 9016 1353 3004 9017 1414 3005 9018 1413 3005 9019 1352 3005 9020 1409 3006 9021 1408 3006 9022 1353 3006 9023 1517 3007 9024 1425 3007 9025 1353 3007 9026 1413 3008 9027 1405 3008 9028 1357 3008 9029 1425 3009 9030 1411 3009 9031 1353 3009 9032 1415 3010 9033 1839 3010 9034 744 3010 9035 1884 3011 9036 1416 3011 9037 721 3011 9038 1416 3012 9039 995 3012 9040 721 3012 9041 1417 3013 9042 734 3013 9043 1157 3013 9044 1418 3014 9045 1417 3014 9046 1157 3014 9047 1422 3015 9048 1421 3015 9049 1419 3015 9050 1381 3016 9051 1420 3016 9052 1382 3016 9053 1421 3017 9054 1368 3017 9055 1419 3017 9056 1420 3018 9057 1423 3018 9058 1382 3018 9059 1384 3019 9060 1438 3019 9061 1419 3019 9062 1438 3020 9063 1422 3020 9064 1419 3020 9065 1424 3021 9066 1435 3021 9067 1399 3021 9068 1428 3022 9069 1398 3022 9070 1400 3022 9071 1423 3023 9072 1393 3023 9073 1382 3023 9074 1394 3024 9075 1390 3024 9076 1384 3024 9077 1390 3025 9078 1438 3025 9079 1384 3025 9080 1389 3026 9081 1394 3026 9082 1384 3026 9083 2747 3027 9084 1427 3027 9085 2746 3027 9086 1427 3028 9087 1383 3028 9088 2746 3028 9089 1403 3029 9090 1428 3029 9091 1400 3029 9092 1408 3030 9093 1427 3030 9094 1361 3030 9095 1411 3031 9096 1431 3031 9097 1409 3031 9098 1431 3032 9099 1408 3032 9100 1409 3032 9101 1352 3033 9102 1407 3033 9103 1414 3033 9104 1432 3034 9105 1426 3034 9106 1413 3034 9107 1435 3035 9108 1429 3035 9109 1399 3035 9110 1429 3036 9111 1406 3036 9112 1399 3036 9113 1430 3037 9114 1428 3037 9115 1403 3037 9116 1406 3038 9117 1435 3038 9118 1399 3038 9119 1428 3039 9120 1410 3039 9121 1403 3039 9122 1410 3040 9123 1430 3040 9124 1403 3040 9125 1433 3041 9126 1431 3041 9127 1411 3041 9128 1414 3042 9129 1432 3042 9130 1413 3042 9131 1434 3043 9132 1248 3043 9133 1149 3043 9134 1431 3044 9135 1437 3044 9136 1408 3044 9137 1429 3045 9138 1435 3045 9139 1406 3045 9140 1428 3046 9141 1430 3046 9142 1410 3046 9143 1432 3047 9144 1442 3047 9145 1426 3047 9146 1423 3048 9147 1379 3048 9148 1378 3048 9149 1437 3049 9150 1436 3049 9151 1408 3049 9152 1449 3050 9153 1420 3050 9154 1423 3050 9155 1420 3051 9156 1379 3051 9157 1423 3051 9158 1390 3052 9159 1421 3052 9160 1438 3052 9161 1426 3053 9162 1405 3053 9163 1413 3053 9164 1443 3054 9165 1449 3054 9166 1423 3054 9167 1421 3055 9168 1422 3055 9169 1438 3055 9170 1422 3056 9171 1441 3056 9172 1438 3056 9173 1420 3057 9174 1443 3057 9175 1423 3057 9176 1407 3058 9177 1444 3058 9178 1414 3058 9179 1431 3059 9180 1445 3059 9181 1437 3059 9182 1381 3060 9183 1446 3060 9184 1420 3060 9185 1447 3061 9186 1368 3061 9187 1421 3061 9188 1420 3062 9189 1449 3062 9190 1443 3062 9191 1422 3063 9192 1447 3063 9193 1421 3063 9194 1517 3064 9195 1440 3064 9196 1425 3064 9197 1444 3065 9198 1432 3065 9199 1414 3065 9200 1446 3066 9201 1449 3066 9202 1420 3066 9203 1439 3067 9204 1445 3067 9205 1431 3067 9206 1426 3068 9207 1448 3068 9208 1405 3068 9209 1452 3069 9210 1425 3069 9211 1440 3069 9212 1449 3070 9213 1450 3070 9214 1420 3070 9215 1450 3071 9216 1379 3071 9217 1420 3071 9218 1451 3072 9219 1422 3072 9220 1421 3072 9221 1390 3073 9222 1451 3073 9223 1421 3073 9224 1451 3074 9225 1447 3074 9226 1422 3074 9227 1455 3075 9228 1452 3075 9229 1440 3075 9230 1462 3076 9231 1455 3076 9232 1440 3076 9233 1452 3077 9234 1462 3077 9235 1440 3077 9236 1517 3078 9237 1452 3078 9238 1440 3078 9239 1446 3079 9240 1454 3079 9241 1449 3079 9242 1454 3080 9243 1450 3080 9244 1449 3080 9245 1436 3081 9246 1427 3081 9247 1408 3081 9248 1452 3082 9249 1455 3082 9250 1425 3082 9251 1432 3083 9252 1453 3083 9253 1442 3083 9254 1436 3084 9255 1437 3084 9256 1445 3084 9257 1442 3085 9258 1457 3085 9259 1426 3085 9260 1458 3086 9261 1447 3086 9262 1451 3086 9263 1459 3087 9264 1446 3087 9265 1381 3087 9266 1379 3088 9267 1459 3088 9268 1381 3088 9269 1447 3089 9270 1460 3089 9271 1368 3089 9272 1460 3090 9273 1390 3090 9274 1368 3090 9275 1433 3091 9276 1461 3091 9277 1431 3091 9278 1461 3092 9279 1439 3092 9280 1431 3092 9281 1517 3093 9282 1462 3093 9283 1452 3093 9284 1425 3094 9285 1469 3094 9286 1411 3094 9287 1469 3095 9288 1433 3095 9289 1411 3095 9290 1160 3096 9291 1463 3096 9292 979 3096 9293 1446 3097 9294 1466 3097 9295 1454 3097 9296 1457 3098 9297 1448 3098 9298 1426 3098 9299 1839 3099 9300 1478 3099 9301 744 3099 9302 1465 3100 9303 1144 3100 9304 1214 3100 9305 1229 3101 9306 1221 3101 9307 1038 3101 9308 1468 3102 9309 1457 3102 9310 1442 3102 9311 1380 3103 9312 1444 3103 9313 1407 3103 9314 1467 3104 9315 1458 3104 9316 1451 3104 9317 1479 3105 9318 1433 3105 9319 1469 3105 9320 1471 3106 9321 1351 3106 9322 1357 3106 9323 1019 3107 9324 1884 3107 9325 721 3107 9326 1444 3108 9327 1484 3108 9328 1432 3108 9329 1472 3109 9330 1450 3109 9331 1454 3109 9332 1472 3110 9333 1379 3110 9334 1450 3110 9335 1475 3111 9336 1474 3111 9337 1467 3111 9338 1476 3112 9339 1092 3112 9340 1456 3112 9341 1292 3113 9342 1495 3113 9343 1264 3113 9344 1495 3114 9345 1258 3114 9346 1264 3114 9347 1259 3115 9348 1477 3115 9349 1456 3115 9350 1477 3116 9351 1476 3116 9352 1456 3116 9353 1258 3117 9354 1481 3117 9355 1263 3117 9356 1260 3118 9357 1477 3118 9358 1259 3118 9359 1481 3119 9360 1262 3119 9361 1263 3119 9362 1478 3120 9363 1051 3120 9364 744 3120 9365 1479 3121 9366 1469 3121 9367 1425 3121 9368 1485 3122 9369 1357 3122 9370 1405 3122 9371 1390 3123 9372 1464 3123 9373 1451 3123 9374 1500 3124 9375 1445 3124 9376 1439 3124 9377 1455 3125 9378 1488 3125 9379 1425 3125 9380 1488 3126 9381 1479 3126 9382 1425 3126 9383 1481 3127 9384 1480 3127 9385 1263 3127 9386 1480 3128 9387 1264 3128 9388 1263 3128 9389 1268 3129 9390 1481 3129 9391 1263 3129 9392 1477 3130 9393 1167 3130 9394 1259 3130 9395 1482 3131 9396 1169 3131 9397 1167 3131 9398 1464 3132 9399 1467 3132 9400 1451 3132 9401 1092 3133 9402 1483 3133 9403 1032 3133 9404 1483 3134 9405 1456 3134 9406 1032 3134 9407 1479 3135 9408 1488 3135 9409 1469 3135 9410 1480 3136 9411 1096 3136 9412 1264 3136 9413 1483 3137 9414 1477 3137 9415 1456 3137 9416 1436 3138 9417 1383 3138 9418 1427 3138 9419 1488 3139 9420 1433 3139 9421 1479 3139 9422 1432 3140 9423 1487 3140 9424 1453 3140 9425 1453 3141 9426 1513 3141 9427 1442 3141 9428 1485 3142 9429 1492 3142 9430 1357 3142 9431 1492 3143 9432 1471 3143 9433 1357 3143 9434 1486 3144 9435 1432 3144 9436 1484 3144 9437 1444 3145 9438 1486 3145 9439 1484 3145 9440 1303 3146 9441 1489 3146 9442 1209 3146 9443 1489 3147 9444 1229 3147 9445 1209 3147 9446 1490 3148 9447 1211 3148 9448 1298 3148 9449 1418 3149 9450 1157 3149 9451 1211 3149 9452 1490 3150 9453 1418 3150 9454 1211 3150 9455 1463 3151 9456 1303 3151 9457 979 3151 9458 1492 3152 9459 1485 3152 9460 1405 3152 9461 1448 3153 9462 1492 3153 9463 1405 3153 9464 1491 3154 9465 1488 3154 9466 1455 3154 9467 1486 3155 9468 1487 3155 9469 1432 3155 9470 1238 3156 9471 1019 3156 9472 1171 3156 9473 1491 3157 9474 1433 3157 9475 1488 3157 9476 1486 3158 9477 1380 3158 9478 1484 3158 9479 1380 3159 9480 1487 3159 9481 1484 3159 9482 1487 3160 9483 1486 3160 9484 1484 3160 9485 1444 3161 9486 1380 3161 9487 1486 3161 9488 1493 3162 9489 1472 3162 9490 1454 3162 9491 1494 3163 9492 1492 3163 9493 1485 3163 9494 1096 3164 9495 1495 3164 9496 1292 3164 9497 1268 3165 9498 1168 3165 9499 1239 3165 9500 1470 3166 9501 1268 3166 9502 1239 3166 9503 1482 3167 9504 1256 3167 9505 1169 3167 9506 1473 3168 9507 1496 3168 9508 1454 3168 9509 1498 3169 9510 1584 3169 9511 1467 3169 9512 1584 3170 9513 1475 3170 9514 1467 3170 9515 1496 3171 9516 1493 3171 9517 1454 3171 9518 1464 3172 9519 1498 3172 9520 1467 3172 9521 1448 3173 9522 1494 3173 9523 1492 3173 9524 1102 3174 9525 1317 3174 9526 1062 3174 9527 1494 3175 9528 1471 3175 9529 1492 3175 9530 1496 3176 9531 1590 3176 9532 1493 3176 9533 1497 3177 9534 1498 3177 9535 1464 3177 9536 1496 3178 9537 1472 3178 9538 1493 3178 9539 1448 3179 9540 1471 3179 9541 1494 3179 9542 1462 3180 9543 1491 3180 9544 1455 3180 9545 1487 3181 9546 1513 3181 9547 1453 3181 9548 1445 3182 9549 1383 3182 9550 1436 3182 9551 1457 3183 9552 1499 3183 9553 1448 3183 9554 1496 3184 9555 1501 3184 9556 1472 3184 9557 1500 3185 9558 1383 3185 9559 1445 3185 9560 1491 3186 9561 1461 3186 9562 1433 3186 9563 1501 3187 9564 1503 3187 9565 1472 3187 9566 1249 3188 9567 1504 3188 9568 1189 3188 9569 1504 3189 9570 1214 3189 9571 1189 3189 9572 1505 3190 9573 1181 3190 9574 1250 3190 9575 1506 3191 9576 1497 3191 9577 1464 3191 9578 1503 3192 9579 1379 3192 9580 1472 3192 9581 1390 3193 9582 1506 3193 9583 1464 3193 9584 1507 3194 9585 1884 3194 9586 1019 3194 9587 1448 3195 9588 1499 3195 9589 1471 3195 9590 1503 3196 9591 1508 3196 9592 1379 3196 9593 1508 3197 9594 1459 3197 9595 1379 3197 9596 1460 3198 9597 1506 3198 9598 1390 3198 9599 1508 3199 9600 1756 3199 9601 1459 3199 9602 1756 3200 9603 1509 3200 9604 1459 3200 9605 1510 3201 9606 1511 3201 9607 1460 3201 9608 1511 3202 9609 1512 3202 9610 1460 3202 9611 1512 3203 9612 1506 3203 9613 1460 3203 9614 1505 3204 9615 1514 3204 9616 1181 3204 9617 1514 3205 9618 1177 3205 9619 1181 3205 9620 1514 3206 9621 1186 3206 9622 1177 3206 9623 1380 3207 9624 1513 3207 9625 1487 3207 9626 1515 3208 9627 1473 3208 9628 1454 3208 9629 1478 3209 9630 2012 3209 9631 1051 3209 9632 1516 3210 9633 1513 3210 9634 1380 3210 9635 1521 3211 9636 1458 3211 9637 1467 3211 9638 1380 3212 9639 1518 3212 9640 1516 3212 9641 1351 3213 9642 1518 3213 9643 1380 3213 9644 1518 3214 9645 1513 3214 9646 1516 3214 9647 1500 3215 9648 1517 3215 9649 1383 3215 9650 1518 3216 9651 1519 3216 9652 1516 3216 9653 1351 3217 9654 1519 3217 9655 1518 3217 9656 1520 3218 9657 1461 3218 9658 1491 3218 9659 1519 3219 9660 1513 3219 9661 1518 3219 9662 1351 3220 9663 1513 3220 9664 1519 3220 9665 1466 3221 9666 1515 3221 9667 1454 3221 9668 1474 3222 9669 1521 3222 9670 1467 3222 9671 1544 3223 9672 1351 3223 9673 1471 3223 9674 1476 3224 9675 1483 3224 9676 1092 3224 9677 1142 3225 9678 1470 3225 9679 1239 3225 9680 1522 3226 9681 1240 3226 9682 1256 3226 9683 1523 3227 9684 1522 3227 9685 1256 3227 9686 1482 3228 9687 1523 3228 9688 1256 3228 9689 1495 3229 9690 1096 3229 9691 1480 3229 9692 1532 3230 9693 1477 3230 9694 1483 3230 9695 1575 3231 9696 1307 3231 9697 995 3231 9698 2012 3232 9699 1502 3232 9700 1051 3232 9701 1524 3233 9702 1507 3233 9703 1019 3233 9704 1238 3234 9705 1524 3234 9706 1019 3234 9707 1525 3235 9708 1446 3235 9709 1459 3235 9710 1526 3236 9711 1525 3236 9712 1459 3236 9713 1509 3237 9714 1526 3237 9715 1459 3237 9716 1527 3238 9717 1460 3238 9718 1447 3238 9719 1528 3239 9720 1142 3239 9721 1262 3239 9722 1240 3240 9723 1529 3240 9724 1260 3240 9725 1534 3241 9726 1528 3241 9727 1262 3241 9728 1481 3242 9729 1534 3242 9730 1262 3242 9731 1530 3243 9732 1527 3243 9733 1447 3243 9734 1529 3244 9735 1477 3244 9736 1260 3244 9737 1531 3245 9738 1482 3245 9739 1167 3245 9740 1495 3246 9741 1534 3246 9742 1481 3246 9743 1258 3247 9744 1495 3247 9745 1481 3247 9746 1529 3248 9747 1532 3248 9748 1477 3248 9749 1567 3249 9750 1481 3249 9751 1268 3249 9752 1532 3250 9753 1476 3250 9754 1477 3250 9755 1567 3251 9756 1534 3251 9757 1481 3251 9758 1477 3252 9759 1531 3252 9760 1167 3252 9761 1114 3253 9762 1533 3253 9763 1089 3253 9764 1533 3254 9765 1160 3254 9766 1089 3254 9767 1532 3255 9768 1531 3255 9769 1477 3255 9770 1534 3256 9771 1480 3256 9772 1481 3256 9773 1525 3257 9774 1466 3257 9775 1446 3257 9776 1458 3258 9777 1530 3258 9778 1447 3258 9779 1102 3259 9780 1535 3259 9781 1317 3259 9782 1525 3260 9783 1536 3260 9784 1466 3260 9785 1537 3261 9786 1221 3261 9787 1229 3261 9788 1538 3262 9789 1233 3262 9790 1465 3262 9791 1537 3263 9792 1539 3263 9793 1221 3263 9794 1088 3264 9795 1535 3264 9796 1102 3264 9797 1307 3265 9798 1540 3265 9799 1114 3265 9800 1540 3266 9801 1533 3266 9802 1114 3266 9803 1539 3267 9804 1215 3267 9805 1221 3267 9806 1536 3268 9807 1515 3268 9808 1466 3268 9809 1521 3269 9810 1530 3269 9811 1458 3269 9812 1517 3270 9813 1689 3270 9814 1462 3270 9815 1542 3271 9816 1468 3271 9817 1513 3271 9818 1468 3272 9819 1442 3272 9820 1513 3272 9821 1541 3273 9822 1542 3273 9823 1513 3273 9824 1607 3274 9825 1634 3274 9826 1500 3274 9827 1439 3275 9828 1607 3275 9829 1500 3275 9830 1634 3276 9831 1543 3276 9832 1500 3276 9833 1461 3277 9834 1607 3277 9835 1439 3277 9836 1543 3278 9837 1517 3278 9838 1500 3278 9839 1544 3279 9840 1541 3279 9841 1513 3279 9842 1351 3280 9843 1544 3280 9844 1513 3280 9845 1543 3281 9846 1689 3281 9847 1517 3281 9848 1545 3282 9849 1471 3282 9850 1499 3282 9851 1462 3283 9852 1546 3283 9853 1491 3283 9854 1546 3284 9855 1520 3284 9856 1491 3284 9857 1546 3285 9858 1547 3285 9859 1520 3285 9860 2012 3286 9861 2025 3286 9862 1502 3286 9863 1596 3287 9864 1535 3287 9865 1088 3287 9866 1417 3288 9867 1596 3288 9868 1088 3288 9869 1548 3289 9870 1545 3289 9871 1499 3289 9872 1457 3290 9873 1548 3290 9874 1499 3290 9875 1547 3291 9876 1461 3291 9877 1520 3291 9878 1418 3292 9879 1549 3292 9880 1417 3292 9881 1468 3293 9882 1548 3293 9883 1457 3293 9884 2025 3294 9885 1242 3294 9886 1502 3294 9887 1587 3295 9888 1544 3295 9889 1471 3295 9890 1550 3296 9891 1587 3296 9892 1471 3296 9893 1545 3297 9894 1553 3297 9895 1471 3297 9896 1553 3298 9897 1550 3298 9898 1471 3298 9899 1551 3299 9900 1559 3299 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13793 2227 4598 13794 2375 4598 13795 2260 4598 13796 2155 4599 13797 2334 4599 13798 2245 4599 13799 2210 4600 13800 2335 4600 13801 2073 4600 13802 2335 4601 13803 2201 4601 13804 2073 4601 13805 2321 4602 13806 2336 4602 13807 2085 4602 13808 2338 4603 13809 2248 4603 13810 2261 4603 13811 2338 4604 13812 2320 4604 13813 2231 4604 13814 2307 4605 13815 2262 4605 13816 2259 4605 13817 2332 4606 13818 2353 4606 13819 2331 4606 13820 2330 4607 13821 2276 4607 13822 2266 4607 13823 2340 4608 13824 2302 4608 13825 2244 4608 13826 2264 4609 13827 2340 4609 13828 2244 4609 13829 2334 4610 13830 2269 4610 13831 2245 4610 13832 2326 4611 13833 2270 4611 13834 2246 4611 13835 2265 4612 13836 2341 4612 13837 2186 4612 13838 2341 4613 13839 2303 4613 13840 2186 4613 13841 3781 4614 13842 2339 4614 13843 2309 4614 13844 2342 4615 13845 2268 4615 13846 2206 4615 13847 2283 4616 13848 2342 4616 13849 2206 4616 13850 1955 4617 13851 2283 4617 13852 2206 4617 13853 2248 4618 13854 2338 4618 13855 2231 4618 13856 2336 4619 13857 2232 4619 13858 2085 4619 13859 2345 4620 13860 2338 4620 13861 2261 4620 13862 2346 4621 13863 2358 4621 13864 2332 4621 13865 2358 4622 13866 2353 4622 13867 2332 4622 13868 2260 4623 13869 2345 4623 13870 2261 4623 13871 2326 4624 13872 2347 4624 13873 2270 4624 13874 2348 4625 13875 2275 4625 13876 2237 4625 13877 2333 4626 13878 2348 4626 13879 2237 4626 13880 2350 4627 13881 2292 4627 13882 2285 4627 13883 2301 4628 13884 2350 4628 13885 2285 4628 13886 2338 4629 13887 2345 4629 13888 2351 4629 13889 2307 4630 13890 2349 4630 13891 2262 4630 13892 2336 4631 13893 2352 4631 13894 2232 4631 13895 2346 4632 13896 2332 4632 13897 2331 4632 13898 2345 4633 13899 2378 4633 13900 2351 4633 13901 3791 4634 13902 3778 4634 13903 2354 4634 13904 2355 4635 13905 2331 4635 13906 2354 4635 13907 2331 4636 13908 2353 4636 13909 2354 4636 13910 2355 4637 13911 2346 4637 13912 2331 4637 13913 2352 4638 13914 2282 4638 13915 2232 4638 13916 2323 4639 13917 2321 4639 13918 2006 4639 13919 2327 4640 13920 2368 4640 13921 2308 4640 13922 2368 4641 13923 2316 4641 13924 2308 4641 13925 2293 4642 13926 2333 4642 13927 2237 4642 13928 2359 4643 13929 2357 4643 13930 2358 4643 13931 2360 4644 13932 2359 4644 13933 2358 4644 13934 2361 4645 13935 2357 4645 13936 2359 4645 13937 2360 4646 13938 2361 4646 13939 2359 4646 13940 2362 4647 13941 2363 4647 13942 2364 4647 13943 2363 4648 13944 2365 4648 13945 2364 4648 13946 2365 4649 13947 2362 4649 13948 2364 4649 13949 2391 4650 13950 2363 4650 13951 2362 4650 13952 2378 4651 13953 2362 4651 13954 2351 4651 13955 2362 4652 13956 2338 4652 13957 2351 4652 13958 2367 4653 13959 973 4653 13960 2004 4653 13961 3772 4654 13962 2369 4654 13963 2233 4654 13964 2369 4655 13965 2322 4655 13966 2233 4655 13967 2322 4656 13968 2370 4656 13969 1875 4656 13970 1875 4657 13971 2371 4657 13972 2304 4657 13973 2294 4658 13974 2295 4658 13975 2004 4658 13976 1875 4659 13977 2373 4659 13978 2371 4659 13979 2370 4660 13980 2373 4660 13981 1875 4660 13982 2295 4661 13983 2367 4661 13984 2004 4661 13985 2372 4662 13986 2367 4662 13987 2295 4662 13988 2373 4663 13989 2298 4663 13990 2371 4663 13991 2356 4664 13992 2330 4664 13993 2349 4664 13994 2201 4665 13995 2375 4665 13996 2227 4665 13997 2335 4666 13998 2375 4666 13999 2201 4666 14000 2330 4667 14001 2288 4667 14002 2276 4667 14003 2312 4668 14004 2374 4668 14005 2307 4668 14006 2374 4669 14007 2349 4669 14008 2307 4669 14009 2374 4670 14010 2356 4670 14011 2349 4670 14012 2346 4671 14013 2360 4671 14014 2358 4671 14015 2378 4672 14016 2345 4672 14017 2260 4672 14018 2375 4673 14019 2378 4673 14020 2260 4673 14021 1886 4674 14022 2376 4674 14023 1887 4674 14024 2365 4675 14025 2338 4675 14026 2362 4675 14027 2357 4676 14028 2353 4676 14029 2358 4676 14030 2330 4677 14031 2379 4677 14032 2288 4677 14033 2368 4678 14034 2380 4678 14035 2316 4678 14036 2380 4679 14037 2317 4679 14038 2316 4679 14039 2377 4680 14040 3775 4680 14041 2337 4680 14042 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+f 3595/2/3595 3564/2/3564 3563/2/3563 +f 3586/2/3586 3559/2/3559 3593/2/3593 +f 3586/2/3586 3557/2/3557 3559/2/3559 +f 3577/2/3577 3557/2/3557 3586/2/3586 +f 3582/2/3582 3565/2/3565 3584/2/3584 +f 3584/2/3584 3565/2/3565 3564/2/3564 +f 3582/2/3582 3566/2/3566 3565/2/3565 +f 3577/2/3577 3558/2/3558 3557/2/3557 +f 3573/2/3573 3558/2/3558 3577/2/3577 +f 3576/2/3576 3561/2/3561 3571/2/3571 +f 3576/2/3576 3562/2/3562 3561/2/3561 +f 3573/2/3573 3560/2/3560 3558/2/3558 +f 3538/2/3538 3553/2/3553 3551/2/3551 +f 3538/2/3538 3534/2/3534 3553/2/3553 +f 3538/2/3538 3551/2/3551 3536/2/3536 +f 3535/2/3535 3542/2/3542 5534/2/5534 +f 3490/2/3490 5534/2/5534 3542/2/3542 +f 3525/2/3525 5534/2/5534 5535/2/5535 +f 3535/2/3535 5534/2/5534 3525/2/3525 +f 3491/2/3491 5534/2/5534 3490/2/3490 +f 3491/2/3491 5535/2/5535 5534/2/5534 +f 5536/2/5536 5535/2/5535 3493/2/3493 +f 3493/2/3493 5535/2/5535 3491/2/3491 +f 3504/2/3504 5535/2/5535 5536/2/5536 +f 3504/2/3504 3516/2/3516 5535/2/5535 +f 3516/2/3516 3525/2/3525 5535/2/5535 +f 3493/2/3493 3494/2/3494 5536/2/5536 +f 5536/2/5536 3494/2/3494 3499/2/3499 +f 5536/2/5536 3499/2/3499 3504/2/3504 +f 3514/2/3514 3511/2/3511 3519/2/3519 +f 3505/2/3505 3516/2/3516 3504/2/3504 +f 3496/2/3496 3487/2/3487 3488/2/3488 +f 3448/2/3448 3458/2/3458 3449/2/3449 +f 3440/1/3440 3439/1/3439 3449/1/3449 +f 3434/1/3434 3443/1/3443 3433/1/3433 +# 11060 faces, 2 coords texture + +# End of File diff --git a/spot_description/meshes/spot.mtl b/spot_description/meshes/spot.mtl new file mode 100644 index 000000000..74b7ca6ac --- /dev/null +++ b/spot_description/meshes/spot.mtl @@ -0,0 +1,19 @@ +newmtl BlackAbs +Ns 5.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.100000 0.100000 0.100000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 1.000000 +illum 2 + +newmtl wrap +Ns 50.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.878431 0.666666 0.227450 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 1.000000 +illum 2 diff --git a/spot_description/urdf/accessories.urdf.xacro b/spot_description/urdf/accessories.urdf.xacro index 4637bb1e9..052561d20 100644 --- a/spot_description/urdf/accessories.urdf.xacro +++ b/spot_description/urdf/accessories.urdf.xacro @@ -11,17 +11,17 @@ - + - + - + @@ -37,7 +37,7 @@ - + diff --git a/spot_description/urdf/spot_macro.xacro b/spot_description/urdf/spot_macro.xacro index 40520fe6e..d13155cb6 100644 --- a/spot_description/urdf/spot_macro.xacro +++ b/spot_description/urdf/spot_macro.xacro @@ -8,7 +8,7 @@ - + @@ -64,7 +64,7 @@ + filename="package://spot_description/meshes/base/visual/front_left_hip.obj" /> @@ -87,7 +87,7 @@ + filename="package://spot_description/meshes/base/visual/front_left_upper_leg.obj" /> @@ -116,7 +116,7 @@ + filename="package://spot_description/meshes/base/visual/front_left_lower_leg.obj" /> @@ -150,7 +150,7 @@ + filename="package://spot_description/meshes/base/visual/front_right_hip.obj" /> @@ -173,7 +173,7 @@ + filename="package://spot_description/meshes/base/visual/front_right_upper_leg.obj" /> @@ -202,7 +202,7 @@ + filename="package://spot_description/meshes/base/visual/front_right_lower_leg.obj" /> @@ -236,7 +236,7 @@ + filename="package://spot_description/meshes/base/visual/rear_left_hip.obj" /> @@ -259,7 +259,7 @@ + filename="package://spot_description/meshes/base/visual/rear_left_upper_leg.obj" /> @@ -288,7 +288,7 @@ + filename="package://spot_description/meshes/base/visual/rear_left_lower_leg.obj" /> @@ -322,7 +322,7 @@ + filename="package://spot_description/meshes/base/visual/rear_right_hip.obj" /> @@ -345,7 +345,7 @@ + filename="package://spot_description/meshes/base/visual/rear_right_upper_leg.obj" /> @@ -374,7 +374,7 @@ + filename="package://spot_description/meshes/base/visual/rear_right_lower_leg.obj" /> From d18bd95dcd4f62229ddbcd9e84f3024f7c92088e Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 4 Dec 2023 17:12:09 -0500 Subject: [PATCH 4/4] [dependabot] Bump spot_wrapper from `ae0f808` to `aff9d7d` (#202) Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- spot_wrapper | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/spot_wrapper b/spot_wrapper index ae0f808ee..aff9d7da5 160000 --- a/spot_wrapper +++ b/spot_wrapper @@ -1 +1 @@ -Subproject commit ae0f808eeb9c2792dd44e83fc5bc8863f2f687b3 +Subproject commit aff9d7da570918bd35c1f951dabd2e7e1413e8ff