spot_ros

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Currently the driver is two massive classes with various functions, and it's not clear how different components relate to each other (if at all). I think it would be a...

heuristicus

Low image publishing rate

10

I have the Spot connected to our lab's WiFi network with the ROS driver running in a Docker container, but the publisher for all camera topics is only publishing at...

wyattrees

The time synchronisation with the robot is done with the time skew component, which has an internal mechanism that is updated every [60 seconds by default](https://github.com/boston-dynamics/spot-sdk/blob/2fa6824949e1781cbe0eff9d9d0fe08c9e49a26d/python/bosdyn-client/src/bosdyn/client/time_sync.py#L336-L340). The top chart in...

heuristicus

WIP ROS2 Foxy branch

5

This PR shouldn't be merged, but instead should be the `foxy` branch. # Changes * Convert codebase to ros2 foxy * Add CI: https://github.com/AustinDeric/spot_ros/actions/runs/274791604 # WIP pending * python script...

AustinDeric

The release notes for 3.1.0 (https://dev.bostondynamics.com/docs/release_notes) have changes to the default behaviour of safe power off commands when they happen on stairs. To summarise, when the power off or gentle...

heuristicus

Instructions for Using `cakin build` for Python3 Work-Around on Melodic

5

As the description says, the build instructions suggest to use `catkin_make` when using the python3 workaround for ROS Melodic. I think that in general, using `catkin build` is preferred over...

MarioGini

I commented about this at https://support.bostondynamics.com/s/question/0D54X00006hjR61SAE/replicating-controller-point-motion-with-sdk-commands. If there is an obstacle in front of the robot, sometimes the trajectory command will return `basic_command_pb2.SE2TrajectoryCommand.Feedback.STATUS_AT_GOAL` when it is not actually at the...

heuristicus

WIP - Dashing

1

This PR shouldn't be merged, but instead should be the dashing branch. **Changes** Convert codebase to ros2 dashing Tested with bosdyn v2.3.0 / ROS2 Dashing / Ubuntu 18.04 **WIP pending**...

FransmanTNO

TF_REPEATED_DATA ignoring data with redundant timestamp

4

Hi, I am running the driver on Ubuntu 20.04 and ROS noetic. spot_ros: 58ba355a7938f2b2d9bd062638e3efc9484f2e96 spot_wrapper: d96bdbf41445215500fb6bc8e7ae278bb1957746 I see the spam on my terminal [ WARN] [1692223451.391583276]: TF_REPEATED_DATA ignoring data with...

mrayh001

Unable to publish the camera extrinsic parameters

1

I am unable to find a topic that can publish the camera extrinsic parameters like rotation and translation matrix of the spot camera. Does anyone know how to publish that?

Harshvgupta