Robot state publisher should query spot for urdf

bdaiinstitute / spot_ros2

ROS 2 driver package for Boston Dynamics' Spot

Other

180 stars 62 forks source link

Robot state publisher should query spot for urdf #21

Closed jbarry-bdai closed 5 months ago

jbarry-bdai commented 1 year ago

Spot's own URDF (which mostly importantly will include the arm if spot has one) can be obtained with:

python3 -m bosdyn.client 192.168.80.3 --username <your-username> --password <your-password> state model

We should write a wrapper around robot state publisher that grabs the correct urdf off spot rather than using the one in spot_description.

heuristicus commented 1 year ago

The code in the driver that actually retrieves this appears to be https://github.com/boston-dynamics/spot-sdk/blob/208c885d99813d02b4d78940289cf1c9d0279674/python/bosdyn-client/src/bosdyn/client/command_line.py#L1099-L1170

jbarry-bdai commented 1 year ago

@kaiyu-zheng can this be closed?

kzheng-bdai commented 1 year ago

If we're happy with the current has_arm solution, then yes!

jbarry-bdai commented 1 year ago

Eh I'll leave it open because I think in theory the URDFs could be different per spot based on calibration (not sure if that's true - should verify) so it probably would be better to get each Spot's own URDF. But this much improves the situation!