[SW-1266] Add option in spot urdf to put links at the feet

bdaiinstitute / spot_ros2

ROS 2 driver package for Boston Dynamics' Spot

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[SW-1266] Add option in spot urdf to put links at the feet #447

Closed khughes-bdai closed 3 months ago

khughes-bdai commented 3 months ago

Change Overview

This now lets you generate a URDF of spot that puts links at the feet locations. It is possible to visualize this with ros2 launch spot_description description.launch.py feet:=true.

The default URDF that gets generated for running the driver does not include these new frames.

Testing Done

[x] visualizing the new URDF containing feet frames has them in the right location
[x] default URDF is unchanged

Screenshot from 2024-08-08 14-55-57.png

khughes-bdai commented 3 months ago

#447 👈
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coveralls commented 3 months ago

Pull Request Test Coverage Report for Build 10307929485

Details

0 of 0 changed or added relevant lines in 0 files are covered.
No unchanged relevant lines lost coverage.
Overall coverage increased (+0.1%) to 53.049%

Totals
Change from base Build 10256015063:	0.1%
Covered Lines:	1914
Relevant Lines:	3608

💛 - Coveralls

khughes-bdai commented 3 months ago

Merge activity

Aug 9, 10:04 AM EDT: @khughes-bdai started a stack merge that includes this pull request via Graphite.
Aug 9, 10:04 AM EDT: @khughes-bdai merged this pull request with Graphite.