[SW-1788] use synchros2 in spot_ros2 (#549)

## Change Overview

Mass replaces `bdai_ros2_wrappers` with `synchros2` so that there is no extra aliasing (which should make all imports faster, hopefully helping internal CI tests?)

## Testing Done

- [x] if CI passes, this is okay
- [x] run driver on robot for sanity check

Signed-off-by: Katie Hughes <[email protected]>

spot_driver/package.xml

@@ -32,7 +32,7 @@
   <depend>tf2_ros</depend>
   <depend>tl_expected</depend>
 
-  <exec_depend>bdai_ros2_wrappers</exec_depend>
+  <exec_depend>synchros2</exec_depend>
   <exec_depend>python3-protobuf</exec_depend>
   <exec_depend>python3-tk</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

spot_driver/spot_driver/calibrated_reregistered_hand_camera_depth_publisher.py

@@ -18,15 +18,15 @@
 import argparse
 from typing import Optional
 
-import bdai_ros2_wrappers.process as ros_process
-import bdai_ros2_wrappers.scope as ros_scope
 import cv2
 import numpy as np
 import open3d as o3d
+import synchros2.process as ros_process
+import synchros2.scope as ros_scope
 import yaml
-from bdai_ros2_wrappers.context import wait_for_shutdown
 from cv_bridge import CvBridge
 from sensor_msgs.msg import Image
+from synchros2.context import wait_for_shutdown
 
 
 class CalibratedReRegisteredHandCameraDepthPublisher:

spot_driver/spot_driver/spot_alerts.py

@@ -2,10 +2,10 @@
 from tkinter import messagebox
 from typing import Any, List, Optional
 
-import bdai_ros2_wrappers.process as ros_process
-from bdai_ros2_wrappers.node import Node
+import synchros2.process as ros_process
 from rclpy.parameter import Parameter
 from rclpy.qos import QoSPresetProfiles
+from synchros2.node import Node
 
 from spot_msgs.msg import (  # type: ignore
     BatteryStateArray,

spot_driver/spot_driver/spot_ros2.py

@@ -12,19 +12,12 @@
 from enum import Enum
 from typing import Any, Callable, Dict, List, Optional, Union
 
-import bdai_ros2_wrappers.process as ros_process
 import builtin_interfaces.msg
 import rclpy
 import rclpy.duration
 import rclpy.time
+import synchros2.process as ros_process
 import tf2_ros
-from bdai_ros2_wrappers.node import Node
-from bdai_ros2_wrappers.single_goal_action_server import (
-    SingleGoalActionServer,
-)
-from bdai_ros2_wrappers.single_goal_multiple_action_servers import (
-    SingleGoalMultipleActionServers,
-)
 from bosdyn.api import (
     geometry_pb2,
     gripper_camera_param_pb2,
@@ -69,6 +62,9 @@
 from rclpy.timer import Rate
 from sensor_msgs.msg import JointState
 from std_srvs.srv import SetBool, Trigger
+from synchros2.node import Node
+from synchros2.single_goal_action_server import SingleGoalActionServer
+from synchros2.single_goal_multiple_action_servers import SingleGoalMultipleActionServers
 
 import spot_driver.robot_command_util as robot_command_util
 

spot_driver/test/pytests/conftest.py

@@ -19,7 +19,6 @@
 import tempfile
 import typing
 
-import bdai_ros2_wrappers.scope as ros_scope
 import domain_coordinator
 import grpc
 import launch
@@ -31,11 +30,12 @@
 import launch_ros.substitutions
 import pytest
 import rclpy
+import synchros2.scope as ros_scope
 import yaml
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.power_pb2 import PowerCommandRequest, PowerCommandResponse, PowerCommandStatus
 from bosdyn.api.robot_command_pb2 import RobotCommandResponse
 from bosdyn.api.robot_state_pb2 import PowerState
+from synchros2.scope import ROSAwareScope
 
 import spot_wrapper.testing
 from spot_driver.spot_ros2 import SpotROS

spot_driver/test/pytests/test_clear_behavior_fault.py

@@ -9,10 +9,10 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.robot_command_pb2 import ClearBehaviorFaultResponse
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import ClearBehaviorFault  # type: ignore
 from spot_wrapper.testing.fixtures import SpotFixture

spot_driver/test/pytests/test_dock.py

@@ -9,11 +9,11 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.basic_command_pb2 import RobotCommandFeedbackStatus, StandCommand
 from bosdyn.api.docking.docking_pb2 import DockingCommandFeedbackResponse, DockingCommandResponse
 from bosdyn.api.robot_command_pb2 import RobotCommandFeedbackResponse, RobotCommandResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import Dock  # type: ignore
 from spot_wrapper.testing.fixtures import SpotFixture

spot_driver/test/pytests/test_execute_dance.py

@@ -9,8 +9,6 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.spot.choreography_sequence_pb2 import (
     ChoreographySequence,
     ChoreographyStatusResponse,
@@ -20,6 +18,8 @@
 from google.protobuf import text_format
 from rclpy.action import ActionClient
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.action import ExecuteDance  # type: ignore
 from spot_wrapper.testing.fixtures import SpotFixture

spot_driver/test/pytests/test_get_choreography_status.py

@@ -9,9 +9,9 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.spot.choreography_sequence_pb2 import ChoreographyStatusResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import GetChoreographyStatus  # type: ignore
 from spot_wrapper.testing.fixtures import SpotFixture

spot_driver/test/pytests/test_list_all_dances.py

@@ -9,9 +9,9 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.spot.choreography_sequence_pb2 import ListAllSequencesResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import ListAllDances  # type: ignore
 from spot_wrapper.testing.fixtures import SpotFixture

spot_driver/test/pytests/test_list_all_moves.py

@@ -9,9 +9,9 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.spot.choreography_sequence_pb2 import ListAllMovesResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import ListAllMoves  # type: ignore
 from spot_wrapper.testing.fixtures import SpotFixture

spot_driver/test/pytests/test_locomotion_mode.py

@@ -9,8 +9,8 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import SetLocomotion  # type: ignore
 

spot_driver/test/pytests/test_max_velocity.py

@@ -9,8 +9,8 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import SetVelocity  # type: ignore
 

spot_driver/test/pytests/test_power_off.py

@@ -9,10 +9,10 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.robot_command_pb2 import RobotCommandResponse
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_wrapper.testing.fixtures import SpotFixture
 

spot_driver/test/pytests/test_recorded_state_to_animation.py

@@ -9,8 +9,6 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.data_chunk_pb2 import DataChunk
 from bosdyn.api.geometry_pb2 import Quaternion, SE3Pose, Vec3
 from bosdyn.api.header_pb2 import CommonError, ResponseHeader
@@ -25,6 +23,8 @@
 )
 from google.protobuf.timestamp_pb2 import Timestamp
 from google.protobuf.wrappers_pb2 import DoubleValue
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import ChoreographyRecordedStateToAnimation  # type: ignore
 from spot_wrapper.testing.fixtures import SpotFixture

spot_driver/test/pytests/test_release.py

@@ -9,9 +9,9 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 
 @pytest.mark.usefixtures("spot_node", "simple_spot")

spot_driver/test/pytests/test_robot_command.py

@@ -9,14 +9,14 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.basic_command_pb2 import RobotCommandFeedbackStatus, StopCommand
 from bosdyn.api.full_body_command_pb2 import FullBodyCommand
 from bosdyn.api.robot_command_pb2 import RobotCommandFeedback, RobotCommandFeedbackResponse, RobotCommandResponse
 from bosdyn.client.robot_command import RobotCommandBuilder
 from bosdyn_msgs.conversions import convert
 from rclpy.action import ActionClient
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.action import RobotCommand as RobotCommandAction  # type: ignore
 from spot_msgs.srv import RobotCommand as RobotCommandService  # type: ignore

spot_driver/test/pytests/test_robot_state.py

@@ -3,11 +3,11 @@
 import typing
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
-from bdai_ros2_wrappers.subscription import Subscription
-from bdai_ros2_wrappers.utilities import namespace_with
 from sensor_msgs.msg import JointState
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
+from synchros2.subscription import Subscription
+from synchros2.utilities import namespace_with
 
 from spot_wrapper.testing.fixtures import SpotFixture
 

spot_driver/test/pytests/test_rollover.py

@@ -9,10 +9,10 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.robot_command_pb2 import RobotCommandResponse
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_wrapper.testing.fixtures import SpotFixture
 

spot_driver/test/pytests/test_ros_interfaces.py

@@ -3,8 +3,8 @@
 import contextlib
 import unittest
 
-import bdai_ros2_wrappers.scope as ros_scope
 import rclpy
+import synchros2.scope as ros_scope
 from bosdyn_msgs.msg import RobotCommand, RobotCommandFeedback
 from std_srvs.srv import Trigger
 

spot_driver/test/pytests/test_self_right.py

@@ -9,10 +9,10 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.robot_command_pb2 import RobotCommandResponse
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_wrapper.testing.fixtures import SpotFixture
 

spot_driver/test/pytests/test_sit.py

@@ -9,10 +9,10 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.robot_command_pb2 import RobotCommandResponse
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_wrapper.testing.fixtures import SpotFixture
 

spot_driver/test/pytests/test_stair_mode.py

@@ -9,9 +9,9 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from std_srvs.srv import SetBool
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 
 @pytest.mark.usefixtures("spot_node")

spot_driver/test/pytests/test_stand.py

@@ -9,10 +9,10 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.robot_command_pb2 import RobotCommandResponse
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_wrapper.testing.fixtures import SpotFixture
 

spot_driver/test/pytests/test_start_recording_state.py

@@ -9,9 +9,9 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.spot.choreography_sequence_pb2 import StartRecordingStateResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import ChoreographyStartRecordingState  # type: ignore
 from spot_wrapper.testing.fixtures import SpotFixture

spot_driver/test/pytests/test_stop.py

@@ -9,10 +9,10 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.robot_command_pb2 import RobotCommandResponse
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_wrapper.testing.fixtures import SpotFixture
 

spot_driver/test/pytests/test_stop_recording_state.py

@@ -9,9 +9,9 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.spot.choreography_sequence_pb2 import StopRecordingStateResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_msgs.srv import ChoreographyStopRecordingState  # type: ignore
 from spot_wrapper.testing.fixtures import SpotFixture

spot_driver/test/pytests/test_undock.py

@@ -9,10 +9,10 @@
 # pylint: disable=no-member
 
 import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
 from bosdyn.api.docking.docking_pb2 import DockingCommandFeedbackResponse, DockingCommandResponse
 from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
 
 from spot_wrapper.testing.fixtures import SpotFixture