Skip to content

Add autowalk client methods #95

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
sktometometo wants to merge 3 commits into
base: spot_arm
Choose a base branch
from
Open

Add autowalk client methods #95

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
6ebdae3
[spoteus] add AutoWalk client command
sktometometo Mar 15, 2023
993c84c
[spoteus] add :start-recording and :stop-recording
sktometometo Mar 15, 2023
4d99c03
[spoteus] rename localization methods
sktometometo Mar 15, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
49 changes: 37 additions & 12 deletions jsk_spot_robot/spoteus/spot-interface.l
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -450,15 +450,15 @@
(if (< index (length ids))
(setq ret (elt ids index)))
ret))
(:initial-localization-fiducial
(:set-localization-fiducial
()
"initial the localization for autowalk based on the fiducial marker"
(let (r)
(setq r (ros::service-call "/spot/set_localization_fiducial"
(instance spot_msgs::SetLocalizationFiducialRequest :init)))
(ros::ros-info "Call \"/spot/set_localization_fiducial\" returns \"~A\"" (send r :message))
t))
(:initial-localization-waypoint
(:set-localization-waypoint
(init-waypoint)
"initial the localization for waypoint id in the graph"
(let (r)
Expand All @@ -470,16 +470,35 @@
(instance spot_msgs::SetLocalizationWaypointRequest :init :waypoint_id init-waypoint)))
(ros::ros-info "Call \"/spot/set_localization_waypoint\" returns \"~A\"" (send r :message))
t))
(:upload-path
(filepath &key (initial-localization-fiducial t) (wait nil))
"upload graph for autowalk"
(let (r)
(if wait (ros::wait-for-service srvname))
(setq r (ros::service-call "/spot/upload_graph"
(instance spot_msgs::UploadGraphRequest :init :upload_filepath filepath)))
(ros::ros-info "Call \"/spot/upload_graph\" returns .. \"~A\"" (send r :message))
(if initial-localization-fiducial (send self :initial-localization-fiducial))
(send r :message)))
(:start-recording
()
"Start AutoWalk recording"
(call-trigger-service "/spot/start-recording"))
(:stop-recording
()
"Stop AutoWalk recording"
(call-trigger-service "/spot/stop-recording"))
(:upload-graph
(path &key (initial-localization-fiducial t) (wait nil))
"upload graph for autowalk"
(let (r
(srvname "/spot/upload_graph"))
(if wait (ros::wait-for-service srvname))
(setq r (ros::service-call srvname
(instance spot_msgs::UploadGraphRequest :init :upload_filepath path)))
(ros::ros-info "Call \"~A\" returns .. \"~A\"" srvname (send r :message))
(if initial-localization-fiducial (send self :initial-localization-fiducial))
(send r :success)))
(:download-graph
(path &key (wait nil))
"Download AutoWalk graph from robot"
(let (r)
(if wait (ros::wait-for-service srvname))
(setq r (ros::service-call srvname
(instance spot_msgs::DownloadGraphRequest :init :download_filepath path)))
(ros::ros-info "Call \"~A\" returns... \"~A\"" srvname (send r :message))
(send r :success)
))
(:list-graph
()
"list up the waypoint (a string type hash id) list in the uploaded graph"
Expand All @@ -490,6 +509,12 @@
(dolist (id (send r :waypoint_ids))
(ros::ros-info " \"~A\"" id))
(send r :waypoint_ids)))
(:clear-graph
()
"Clear the AutoWalk graph in the robot."
(let ()
(call-trigger-service "/spot/clear_graph")
))
(:navigate-to
(navigate-to &key (initial-localization-waypoint nil))
(let (ids c goal ret)
Expand Down