Alexnavtt/stable joint motion - #10
Open
alexnavtt wants to merge 36 commits into
Open
Conversation
…end effector poses
…nto alexnavtt/stable_joint_motion
…ajectories with both ee and joint components
…alexnavtt/stable_joint_motion
…alexnavtt/stable_joint_motion
…oboticsPublic/spot_ros into alexnavtt/stable_joint_motion
…taclesCritic and kept only CostCritic, changed lidar components to multithreaded container and allowed intra-process
…oboticsPublic/spot_ros into alexnavtt/stable_joint_motion
…take effect, blocked RPCs cannot starve cmd_vel/estop services, and the WalkTo Rate.sleep() deadlock is fixed. spot_body_wrapper.py: Guard get_docking_state() against transient RPC errors (returning last-known state) so 10 Hz timer callbacks no longer crash the node during network blips. spot_lease_manager.py: Latch estop assertions via the EstopKeepAlive (previously self-cleared within ~3 s), add disengageEStop() to clear a latched estop, make _releaseEStop settle-then-cut and shut down the keepalive thread, guard lease queries, and fix a NameError in safe_shut_down. spot_ros.py: Repair services that crashed the node on invocation (estop/release, clear_behavior_fault, list_graph, navigate_to, stair/locomotion/max_velocity), wire estop/release to disengageEStop(), and bound the startup dock-state wait. image_server.py: Guard get_image_async in the per-source image timers so channel-level RPC errors log a warning instead of propagating.
…oved ObstaclesCritic and kept only CostCritic, changed lidar components to multithreaded container and allowed intra-process" This reverts commit 94f0cd8.
… groups take effect, blocked RPCs cannot starve cmd_vel/estop services, and the WalkTo Rate.sleep() deadlock is fixed." This reverts commit a44f181.
FabianEP11
reviewed
Jul 22, 2026
FabianEP11
reviewed
Jul 22, 2026
FabianEP11
reviewed
Jul 22, 2026
FabianEP11
reviewed
Jul 22, 2026
FabianEP11
left a comment
FabianEP11
left a comment
There was a problem hiding this comment.
same comments as in the spot_manipulation PR
Contributor
Author
|
Fixed issues in this repo |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Adds the message and behavior interfaces for UTNuclearRoboticsPublic/spot_manipulation#3