when connected to a robot, the launchfile will auto determine if the robot has an arm and use that to generate the URDF that gets used by the hardware interface (same as in spot_driver)
default controller config file that gets loaded is also now auto determined from if the robot has an arm.
This required some reworking of the core launchfile to use an opaque function to add this extra logic
Allows users to specify login info for the robot in a configuration yaml file, same as spot driver.
Introduces a dependency on spot_driver so that the launchfile can use this code in spot_driver.launch.spot_launch_helpers. This could be reworked in the future if we decide we don't want these packages so coupled.
minor changes to launch arguments to make the user interface simpler and more flexible, and updates readme
Testing Done
[x] tested on robot with arm
[x] tested on robot without arm
[x] tested examples in mock mode with and without mock'ed arm
Please create a checklist of tests you plan to do and check off the ones that have been completed successfully. Ensure that ROS 2 tests use domain_coordinator to prevent port conflicts. Further guidance for testing can be found on the ros utilities wiki.
Change Overview
spot_driver)spot_driverso that the launchfile can use this code inspot_driver.launch.spot_launch_helpers. This could be reworked in the future if we decide we don't want these packages so coupled.Testing Done
Please create a checklist of tests you plan to do and check off the ones that have been completed successfully. Ensure that ROS 2 tests use
domain_coordinatorto prevent port conflicts. Further guidance for testing can be found on the ros utilities wiki.