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Edited spot_ros2 to work with new graphnav #120

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Merged
bhung-bdai merged 1 commit into from
Aug 4, 2023
Merged

Edited spot_ros2 to work with new graphnav #120

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18 changes: 9 additions & 9 deletions spot_driver/spot_driver/spot_ros2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -861,7 +861,7 @@ def publish_graph_nav_pose_callback(self) -> None:

try:
# noinspection PyProtectedMember
state = self.spot_wrapper._graph_nav_client.get_localization_state()
state = self.spot_wrapper.spot_graph_nav._graph_nav_client.get_localization_state()
if not state.localization.waypoint_id:
self.get_logger().warning("Robot is not localized; Please upload graph and localize.")
return
Expand Down Expand Up @@ -1934,11 +1934,11 @@ def handle_graph_nav_set_localization(

try:
if request.method == "fiducial":
self.spot_wrapper._set_initial_localization_fiducial()
self.spot_wrapper.spot_graph_nav.set_initial_localization_fiducial()
response.success = True
response.message = "Success"
elif request.method == "waypoint":
self.spot_wrapper._set_initial_localization_waypoint([request.waypoint_id])
self.spot_wrapper.spot_graph_nav.set_initial_localization_waypoint([request.waypoint_id])
response.success = True
response.message = "Success"
else:
Expand All @@ -1964,7 +1964,7 @@ def handle_graph_nav_upload_graph(

try:
self.get_logger().info(f"Uploading GraphNav map: {request.upload_filepath}")
self.spot_wrapper._upload_graph_and_snapshots(request.upload_filepath)
self.spot_wrapper.spot_graph_nav.upload_graph(request.upload_filepath)
self.get_logger().info("Uploaded")
response.success = True
response.message = "Success"
Expand All @@ -1985,7 +1985,7 @@ def handle_graph_nav_clear_graph(

try:
self.get_logger().info("Clearing graph")
self.spot_wrapper._clear_graph()
self.spot_wrapper.spot_graph_nav.clear_graph()
self.get_logger().info("Cleared")
response.success = True
response.message = "Success"
Expand All @@ -2005,9 +2005,9 @@ def handle_list_graph(self, request: ListGraph.Request, response: ListGraph.Resp

try:
self.get_logger().error(f"handle_list_graph: {request}")
self.spot_wrapper._clear_graph()
self.spot_wrapper._upload_graph_and_snapshots(request.upload_filepath)
response.waypoint_ids = self.spot_wrapper.list_graph(request.upload_filepath)
self.spot_wrapper.spot_graph_nav.clear_graph()
self.spot_wrapper.spot_graph_nav.upload_graph(request.upload_filepath)
response.waypoint_ids = self.spot_wrapper.spot_graph_nav.list_graph(request.upload_filepath)
self.get_logger().error(f"handle_list_graph RESPONSE: {response}")
except Exception as e:
self.get_logger().error("Exception Error:{}".format(e))
Expand Down Expand Up @@ -2078,7 +2078,7 @@ def handle_navigate_to(self, goal_handle: ServerGoalHandle) -> NavigateTo.Result
return response

# run navigate_to
resp = self.spot_wrapper.navigate_to(
resp = self.spot_wrapper.spot_graph_nav.navigate_to(
upload_path=goal_handle.request.upload_path,
navigate_to=goal_handle.request.navigate_to,
initial_localization_fiducial=goal_handle.request.initial_localization_fiducial,
Expand Down