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WIP: FeatureBranch: adding basic arm services #66

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WIP: FeatureBranch: adding basic arm services #66

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28 changes: 28 additions & 0 deletions spot_driver/spot_driver/spot_ros2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -631,6 +631,21 @@ def _get_manipulation_command_feedback(self, goal_id):
self.spot_wrapper.get_manipulation_command_feedback(goal_id), feedback)
return feedback

def handle_arm_stow(self, request, response):
"""ROS service handler for the arm_stow service"""
response.success, response.message = self.spot_wrapper.arm_stow()
return response

def handle_arm_unstow(self, request, response):
"""ROS service handler for the arm_unstow service"""
response.success, response.message = self.spot_wrapper.arm_unstow()
return response

def handle_arm_carry(self, request, response):
"""ROS service handler for the arm_carry service"""
response.success, response.message = self.spot_wrapper.arm_carry()
return response

def handle_manipulation_command(self, goal_handle):
# Most of the logic here copied from handle_robot_command
self.node.get_logger().debug("I'm a function that handles request to the manipulation api!")
Expand Down Expand Up @@ -1406,6 +1421,19 @@ def main(args=None):
spot_ros.handle_robot_command,
callback_group=spot_ros.group)
if has_arm:
node.create_service(
Trigger, "arm_stow",
lambda request, response: spot_ros.service_wrapper('arm_stow', spot_ros.handle_arm_stow, request, response),
callback_group=spot_ros.group)
node.create_service(
Trigger, "arm_unstow",
lambda request, response: spot_ros.service_wrapper('arm_unstow', spot_ros.handle_arm_unstow, request, response),
callback_group=spot_ros.group)
node.create_service(
Trigger, "arm_carry",
lambda request, response: spot_ros.service_wrapper('arm_carry', spot_ros.handle_arm_carry, request, response),
callback_group=spot_ros.group)

spot_ros.manipulation_server = ActionServer(node, Manipulation, 'manipulation',
spot_ros.handle_manipulation_command,
callback_group=spot_ros.group)
Expand Down