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Merge branch 'pr-refactoring' into pr-inverse-kinematics
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@gremigi-bdai
gremigi-bdai authored Nov 27, 2023
2 parents 24b2f9d + 630e12e commit e46701e
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Showing 13 changed files with 3,301 additions and 745 deletions.
8 changes: 4 additions & 4 deletions .devcontainer/Dockerfile
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Expand Up @@ -58,10 +58,10 @@ RUN curl -sL https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/v3.
RUN python -m pip install --no-cache-dir --upgrade pip==22.3.1 \
&& pip install --root-user-action=ignore --no-cache-dir --default-timeout=900 \
numpy==1.24.1 \
bosdyn-client==3.2.1.post1 \
bosdyn-mission==3.2.1.post1 \
bosdyn-api==3.2.1.post1 \
bosdyn-core==3.2.1.post1 && \
bosdyn-client==3.3.2 \
bosdyn-mission==3.3.2 \
bosdyn-api==3.3.2 \
bosdyn-core==3.3.2 && \
pip cache purge

# ROS doesn't recognize the docker shells as terminals so force colored output
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18 changes: 10 additions & 8 deletions install_spot_ros2.sh
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Expand Up @@ -15,10 +15,12 @@ done
if test -f "$REQUIREMENTS_FILE"; then
sudo pip3 install -r $REQUIREMENTS_FILE
else
echo "ERROR: $REQUIREMENTS_FILE not found. Please initialize spot_wrapper with: git submodule init --update"
echo "ERROR: $REQUIREMENTS_FILE not found. Please initialize spot_wrapper with: git submodule init --update"
exit 1
fi

sudo apt-get update

# Install ROS dependencies
# TODO(jschornak-bdai): use rosdep to install these packages by parsing dependencies listed in package.xml
sudo apt install -y ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-tf-transformations ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-depth-image-proc ros-$ROS_DISTRO-tl-expected
Expand All @@ -30,20 +32,20 @@ sudo pip3 install --force-reinstall -v "setuptools==59.6.0"

if $ARM; then
# Install bosdyn_msgs - automatic conversions of BD protobufs to ROS messages
wget -q -O /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_arm64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/bosdyn_msgs-v.3.2.0-humble-arm64/ros-humble-bosdyn-msgs_3.2.0-0jammy_arm64.deb
sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_arm64.deb
rm /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_arm64.deb
wget -q -O /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.3.2-ARM64/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb
sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb
rm /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb

# Install spot-cpp-sdk
wget -q -O /tmp/spot-cpp-sdk_3.3.0_arm64.deb https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/v3.3.0-cmake-infra/spot-cpp-sdk_3.3.0_arm64.deb
sudo dpkg -i /tmp/spot-cpp-sdk_3.3.0_arm64.deb
rm /tmp/spot-cpp-sdk_3.3.0_arm64.deb
else
# Install bosdyn_msgs - automatic conversions of BD protobufs to ROS messages
wget -q -O /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_amd64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.2.0-frametreesnapshot/ros-humble-bosdyn-msgs_3.2.0-0jammy_amd64.deb
sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_amd64.deb
rm /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_amd64.deb
wget -q -O /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.3.2-AMD64/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb
sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb
rm /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb

# Install spot-cpp-sdk
wget -q -O /tmp/spot-cpp-sdk_3.3.0_amd64.deb https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/v3.3.0-cmake-infra/spot-cpp-sdk_3.3.0_amd64.deb
sudo dpkg -i /tmp/spot-cpp-sdk_3.3.0_amd64.deb
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2 changes: 1 addition & 1 deletion ros_utilities
Submodule ros_utilities updated 1 files
+2 −263 README.md
14 changes: 7 additions & 7 deletions spot_description/urdf/accessories.urdf.xacro
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Expand Up @@ -11,17 +11,17 @@
<link name="pack_mount">
<visual>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/visual/pack_top.dae"/>
<mesh filename="package://spot_description/meshes/base/visual/pack_top.dae"/>
</geometry>
</visual>
<visual>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/visual/pack_body.dae"/>
<mesh filename="package://spot_description/meshes/base/visual/pack_body.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/visual/pack_body.dae"/>
<mesh filename="package://spot_description/meshes/base/visual/pack_body.dae"/>
</geometry>
</collision>
</link>
Expand All @@ -37,12 +37,12 @@
<link name="lidar_mount">
<visual>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/visual/lidar_mount.dae"/>
<mesh filename="package://spot_description/meshes/base/visual/lidar_mount.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/collision/lidar_mount_collision.stl"/>
<mesh filename="package://spot_description/meshes/base/collision/lidar_mount_collision.stl"/>
</geometry>
</collision>
</link>
Expand All @@ -58,14 +58,14 @@
<link name="velodyne_cage">
<visual>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/collision/velodyne_cage.stl" scale="0.001 0.001 0.001" />
<mesh filename="package://spot_description/meshes/base/collision/velodyne_cage.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
<material name="black" />
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/base/collision/velodyne_cage.stl" scale="0.001 0.001 0.001" />
<mesh filename="package://spot_description/meshes/base/collision/velodyne_cage.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
</collision>
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52 changes: 26 additions & 26 deletions spot_description/urdf/spot_arm_macro.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -7,25 +7,25 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_sh0.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_sh0.obj" />
</geometry>
<material name="arm_link_sh0">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_sh0_base.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_sh0_base.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_sh0_left_motor.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_sh0_left_motor.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_sh0_right_motor.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_sh0_right_motor.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -49,7 +49,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_sh1.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_sh1.obj" />
</geometry>
<material name="arm_link_sh1">
<color rgba="0.2 0.2 0.2 1" />
Expand Down Expand Up @@ -78,15 +78,15 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_hr0.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_hr0.obj" />
</geometry>
<material name="arm_link_hr0">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_hr0.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_hr0.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -109,15 +109,15 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_el0.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_el0.obj" />
</geometry>
<material name="arm_link_el0">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_el0.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_el0.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -140,20 +140,20 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_el1.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_el1.obj" />
</geometry>
<material name="arm_link_el1">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_el1_main.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_el1_main.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_el1_lip.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_el1_lip.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -177,15 +177,15 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_wr0.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_wr0.obj" />
</geometry>
<material name="arm_link_wr0">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_wr0.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_wr0.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -209,30 +209,30 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_wr1.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_wr1.obj" />
</geometry>
<material name="arm_link_wr1">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_wr1.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/arm_link_wr1.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/front_jaw.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/front_jaw.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/middle_jaw.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/middle_jaw.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/jaw_tooth.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/jaw_tooth.obj" />
</geometry>
</collision>
<inertial>
Expand All @@ -256,40 +256,40 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_fngr.obj" />
<mesh filename="package://spot_description/meshes/arm/visual/arm_link_fngr.obj" />
</geometry>
<material name="arm_link_fngr">
<color rgba="0.2 0.2 0.2 1" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/left_hinge.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/left_hinge.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/left_finger.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/left_finger.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/left_tooth.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/left_tooth.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/right_hinge.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/right_hinge.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/right_finger.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/right_finger.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="file://$(find spot_description)/meshes/arm/collision/right_tooth.obj" />
<mesh filename="package://spot_description/meshes/arm/collision/right_tooth.obj" />
</geometry>
</collision>
<inertial>
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