Using Spot SDK 3.3.2 ROS2 messages. (#185)

Co-authored-by: Andrew Messing <[email protected]> Co-authored-by: Andrew Messing <[email protected]>
bdaiinstitute · Nov 20, 2023 · 728bd7d · 728bd7d
1 parent 40c7007
commit 728bd7d
Show file tree

Hide file tree

Showing 4 changed files with 3,128 additions and 378 deletions.
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -58,10 +58,10 @@ RUN curl -sL https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/v3.
 RUN python -m pip install --no-cache-dir --upgrade pip==22.3.1 \
     && pip install --root-user-action=ignore --no-cache-dir --default-timeout=900 \
     numpy==1.24.1 \
-    bosdyn-client==3.2.1.post1 \
-    bosdyn-mission==3.2.1.post1 \
-    bosdyn-api==3.2.1.post1 \
-    bosdyn-core==3.2.1.post1  && \
+    bosdyn-client==3.3.2 \
+    bosdyn-mission==3.3.2 \
+    bosdyn-api==3.3.2 \
+    bosdyn-core==3.3.2  && \
     pip cache purge
 
 # ROS doesn't recognize the docker shells as terminals so force colored output

diff --git a/install_spot_ros2.sh b/install_spot_ros2.sh
@@ -15,10 +15,12 @@ done
 if test -f "$REQUIREMENTS_FILE"; then
     sudo pip3 install -r $REQUIREMENTS_FILE
 else
-    echo "ERROR: $REQUIREMENTS_FILE not found. Please initialize spot_wrapper with: git submodule init --update"  
+    echo "ERROR: $REQUIREMENTS_FILE not found. Please initialize spot_wrapper with: git submodule init --update"
     exit 1
 fi
 
+sudo apt-get update
+
 # Install ROS dependencies
 # TODO(jschornak-bdai): use rosdep to install these packages by parsing dependencies listed in package.xml
 sudo apt install -y ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-tf-transformations ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-depth-image-proc ros-$ROS_DISTRO-tl-expected
@@ -30,20 +32,20 @@ sudo pip3 install --force-reinstall -v "setuptools==59.6.0"
 
 if $ARM; then
     # Install bosdyn_msgs - automatic conversions of BD protobufs to ROS messages
-    wget -q -O /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_arm64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/bosdyn_msgs-v.3.2.0-humble-arm64/ros-humble-bosdyn-msgs_3.2.0-0jammy_arm64.deb
-    sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_arm64.deb
-    rm /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_arm64.deb
+    wget -q -O /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.3.2-ARM64/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb
+    sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb
+    rm /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb
 
     # Install spot-cpp-sdk
     wget -q -O /tmp/spot-cpp-sdk_3.3.0_arm64.deb https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/v3.3.0-cmake-infra/spot-cpp-sdk_3.3.0_arm64.deb
     sudo dpkg -i /tmp/spot-cpp-sdk_3.3.0_arm64.deb
     rm /tmp/spot-cpp-sdk_3.3.0_arm64.deb
 else
     # Install bosdyn_msgs - automatic conversions of BD protobufs to ROS messages
-    wget -q -O /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_amd64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.2.0-frametreesnapshot/ros-humble-bosdyn-msgs_3.2.0-0jammy_amd64.deb
-    sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_amd64.deb
-    rm /tmp/ros-humble-bosdyn-msgs_3.2.0-0jammy_amd64.deb
-    
+    wget -q -O /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.3.2-AMD64/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb
+    sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb
+    rm /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb
+
     # Install spot-cpp-sdk
     wget -q -O /tmp/spot-cpp-sdk_3.3.0_amd64.deb https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/v3.3.0-cmake-infra/spot-cpp-sdk_3.3.0_amd64.deb
     sudo dpkg -i /tmp/spot-cpp-sdk_3.3.0_amd64.deb