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heuristicus / spot_ros

ROS driver for controlling Boston Dynamics' Spot robot
https://heuristicus.github.io/spot_ros/
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adding pick service #98

Closed mfheinemann closed 1 year ago

mfheinemann commented 1 year ago

Adding ROS service for PickObject Proto

jeremysee2 commented 1 year ago

Have you tested that this works with the robot, e.g. executed the code and recorded a video of it?

mfheinemann commented 1 year ago

@jeremysee2 yeah, I tested it on spot. Here you see a "pick & place" but the PR only deals with the picking.

https://user-images.githubusercontent.com/97460777/223214283-07fe0e18-d69a-4134-9ff4-2eab36bb756d.mp4

jeremysee2 commented 1 year ago

Just one question, I noticed you removed the unstow command in force_trajectory, does the pick service work if you start from the Stow position?

If it doesn't work maybe we should throw an exception when starting from that pose.

mfheinemann commented 1 year ago

Yeah, it works this way. If you look at the video, the arm directly goes to "look at ground" as part of grasp3d without being unstowed before.

jeremysee2 commented 1 year ago

Then the PR is fine by me, @heuristicus any thoughts?

Also, you might want to run a Black formatter like this one for VS Code to pass the CI check.

heuristicus commented 1 year ago

Fine to merge once black has been applied. If you have black installed, just run black . in this repo.

jeremysee2 commented 1 year ago

I've run this on my Spot, it seems to work as expected, to add another testing data point.