Skip to content
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

[N/A] Add crouching stand service #562

Merged
merged 3 commits into from
Jan 23, 2025
Merged

[N/A] Add crouching stand service #562

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
0ee2395
Add crouching stand
llee-bdai Jan 22, 2025
356e86b
Add in more comments
llee-bdai Jan 22, 2025
e60cc6b
Run formatting
llee-bdai Jan 23, 2025
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
15 changes: 15 additions & 0 deletions spot_driver/spot_driver/spot_ros2.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -468,6 +468,12 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
lambda request, response: self.service_wrapper("stand", self.handle_stand, request, response),
callback_group=self.group,
)
self.create_service(
Trigger,
"crouch",
lambda request, response: self.service_wrapper("crouch", self.handle_crouch, request, response),
callback_group=self.group,
)
self.create_service(
Trigger,
"rollover",
Expand Down Expand Up @@ -1158,6 +1164,15 @@ def handle_stand(self, request: Trigger.Request, response: Trigger.Response) ->
response.success, response.message = self.spot_wrapper.stand()
return response

def handle_crouch(self, request: Trigger.Request, response: Trigger.Response) -> Trigger.Response:
"""ROS service handler for the crouch service (standing as low as possible)"""
if self.spot_wrapper is None:
response.success = False
response.message = "Spot wrapper is undefined"
return response
response.success, response.message = self.spot_wrapper.stand(body_height=-0.15)
return response

def handle_rollover(self, request: Trigger.Request, response: Trigger.Response) -> Trigger.Response:
"""ROS service handler for the rollover service"""
if self.spot_wrapper is None:
Expand Down
Loading