Bump Spot SDK version from 3.3.2 to 4.0.0 (#30)

* Bump Spot SDK version from 3.3.2 to 4.0.0 Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com> * Include GPS messages in bosdyn_api_msgs Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com> * Add bosdyn_metrics_logging_api_msgs package Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com> * Update proto2ros config overlays Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com> * Update ros_utilities submodule Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com> * Update ros_utilities submodule Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com> --------- Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com>
bdaiinstitute · Feb 20, 2024 · 71a4721 · 71a4721
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commit 71a4721
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diff --git a/bosdyn_api_msgs/CMakeLists.txt b/bosdyn_api_msgs/CMakeLists.txt
@@ -16,6 +16,7 @@ fetch_spot_sdk(spotsdk)
 set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
 file(GLOB ${PROJECT_NAME}_PROTOS
   "${${PROJECT_NAME}_PROTO_DIR}/bosdyn/api/*.proto"
+  "${${PROJECT_NAME}_PROTO_DIR}/bosdyn/api/gps/*.proto"
   "${${PROJECT_NAME}_PROTO_DIR}/bosdyn/api/docking/*.proto"
 )
 

diff --git a/bosdyn_api_msgs/package.xml b/bosdyn_api_msgs/package.xml
@@ -5,7 +5,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_api_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK core APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/bosdyn_auto_return_api_msgs/config/overlay.yaml b/bosdyn_auto_return_api_msgs/config/overlay.yaml
@@ -1,6 +1,7 @@
 package_mapping:
   bosdyn.api: bosdyn_api_msgs
   bosdyn.api.docking: bosdyn_api_msgs
+  bosdyn.api.gps: bosdyn_api_msgs
 python_imports:
   - bosdyn_api_msgs.msg
 inline_python_imports:

diff --git a/bosdyn_auto_return_api_msgs/package.xml b/bosdyn_auto_return_api_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_auto_return_api_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK auto-return APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/bosdyn_autowalk_api_msgs/config/overlay.yaml b/bosdyn_autowalk_api_msgs/config/overlay.yaml
@@ -1,6 +1,7 @@
 package_mapping:
   bosdyn.api: bosdyn_api_msgs
   bosdyn.api.docking: bosdyn_api_msgs
+  bosdyn.api.gps: bosdyn_api_msgs
   bosdyn.api.graph_nav: bosdyn_graph_nav_api_msgs
   bosdyn.api.mission: bosdyn_mission_api_msgs
   bosdyn.api.spot: bosdyn_spot_api_msgs

diff --git a/bosdyn_autowalk_api_msgs/package.xml b/bosdyn_autowalk_api_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_autowalk_api_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK autowalk APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/bosdyn_cmake_module/package.xml b/bosdyn_cmake_module/package.xml
@@ -5,7 +5,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_cmake_module</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>CMake modules for Boston Dynamics Spot SDK</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/bosdyn_graph_nav_api_msgs/config/overlay.yaml b/bosdyn_graph_nav_api_msgs/config/overlay.yaml
@@ -1,6 +1,7 @@
 package_mapping:
   bosdyn.api: bosdyn_api_msgs
   bosdyn.api.docking: bosdyn_api_msgs
+  bosdyn.api.gps: bosdyn_api_msgs
   bosdyn.api.spot: bosdyn_spot_api_msgs
 python_imports:
   - bosdyn_api_msgs.msg

diff --git a/bosdyn_graph_nav_api_msgs/package.xml b/bosdyn_graph_nav_api_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_graph_nav_api_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK graph nav APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/bosdyn_keepalive_api_msgs/config/overlay.yaml b/bosdyn_keepalive_api_msgs/config/overlay.yaml
@@ -1,6 +1,7 @@
 package_mapping:
   bosdyn.api: bosdyn_api_msgs
   bosdyn.api.docking: bosdyn_api_msgs
+  bosdyn.api.gps: bosdyn_api_msgs
   bosdyn.api.auto_return: bosdyn_auto_return_api_msgs
 python_imports:
   - bosdyn_api_msgs.msg

diff --git a/bosdyn_keepalive_api_msgs/package.xml b/bosdyn_keepalive_api_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_keepalive_api_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK keepalive APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/bosdyn_log_status_api_msgs/config/overlay.yaml b/bosdyn_log_status_api_msgs/config/overlay.yaml
@@ -1,6 +1,7 @@
 package_mapping:
   bosdyn.api: bosdyn_api_msgs
   bosdyn.api.docking: bosdyn_api_msgs
+  bosdyn.api.gps: bosdyn_api_msgs
 python_imports:
   - bosdyn_api_msgs.msg
 inline_python_imports:

diff --git a/bosdyn_log_status_api_msgs/package.xml b/bosdyn_log_status_api_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_log_status_api_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK log status APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/bosdyn_metrics_logging_api_msgs/CMakeLists.txt b/bosdyn_metrics_logging_api_msgs/CMakeLists.txt
@@ -0,0 +1,28 @@
+# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+cmake_minimum_required(VERSION 3.8)
+project(bosdyn_metrics_logging_api_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(bosdyn_api_msgs REQUIRED)
+find_package(proto2ros REQUIRED)
+
+find_package(bosdyn_cmake_module REQUIRED)
+
+fetch_spot_sdk(spotsdk)
+set(${PROJECT_NAME}_PROTO_DIR "${spotsdk_SOURCE_DIR}/protos")
+file(GLOB ${PROJECT_NAME}_PROTOS
+  "${${PROJECT_NAME}_PROTO_DIR}/bosdyn/api/metrics_logging/*.proto"
+)
+
+proto2ros_vendor_package(${PROJECT_NAME}
+  PROTOS ${${PROJECT_NAME}_PROTOS}
+  IMPORT_DIRS ${${PROJECT_NAME}_PROTO_DIR}
+  CONFIG_OVERLAYS config/overlay.yaml
+  ROS_DEPENDENCIES bosdyn_api_msgs
+)
+
+ament_package()
diff --git a/bosdyn_metrics_logging_api_msgs/config/overlay.yaml b/bosdyn_metrics_logging_api_msgs/config/overlay.yaml
@@ -0,0 +1,8 @@
+package_mapping:
+  bosdyn.api: bosdyn_api_msgs
+python_imports:
+  - bosdyn_api_msgs.msg
+inline_python_imports:
+  - bosdyn_api_msgs.conversions
+package_specifications:
+  - bosdyn_api_msgs.specifications
diff --git a/bosdyn_metrics_logging_api_msgs/package.xml b/bosdyn_metrics_logging_api_msgs/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<!--
+Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+-->
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>bosdyn_metrics_logging_api_msgs</name>
+  <version>4.0.0</version>
+  <description>ROS 2 interoperability support for Boston Dynamics Spot SDK metrics logging APIs</description>
+  <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+  <buildtool_depend>bosdyn_cmake_module</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>bosdyn_api_msgs</depend>
+  <depend>proto2ros</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/bosdyn_mission_api_msgs/config/overlay.yaml b/bosdyn_mission_api_msgs/config/overlay.yaml
@@ -1,6 +1,7 @@
 package_mapping:
   bosdyn.api: bosdyn_api_msgs
   bosdyn.api.docking: bosdyn_api_msgs
+  bosdyn.api.gps: bosdyn_api_msgs
   bosdyn.api.graph_nav: bosdyn_graph_nav_api_msgs
   bosdyn.api.spot: bosdyn_spot_api_msgs
   bosdyn.api.spot_cam: bosdyn_spot_cam_api_msgs

diff --git a/bosdyn_mission_api_msgs/package.xml b/bosdyn_mission_api_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_mission_api_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK mission APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/bosdyn_msgs/bosdyn_msgs/msg/__init__.py b/bosdyn_msgs/bosdyn_msgs/msg/__init__.py
@@ -1,11 +1,12 @@
-# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
 
 from bosdyn_api_msgs.msg import *  # noqa
 from bosdyn_auto_return_api_msgs.msg import *  # noqa
 from bosdyn_autowalk_api_msgs.msg import *  # noqa
 from bosdyn_graph_nav_api_msgs.msg import *  # noqa
 from bosdyn_keepalive_api_msgs.msg import *  # noqa
 from bosdyn_log_status_api_msgs.msg import *  # noqa
+from bosdyn_metrics_logging_api_msgs.msg import *  # noqa
 from bosdyn_mission_api_msgs.msg import *  # noqa
 from bosdyn_spot_api_msgs.msg import *  # noqa
 from bosdyn_spot_cam_api_msgs.msg import *  # noqa
diff --git a/bosdyn_msgs/package.xml b/bosdyn_msgs/package.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <!--
-Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
+Copyright (c) 2023-2024 Boston Dynamics AI Institute LLC. All rights reserved.
 -->
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>ROS 2 interoperability support for Boston Dynamics Spot SDK APIs</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>
@@ -16,6 +16,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
   <exec_depend>bosdyn_graph_nav_api_msgs</exec_depend>
   <exec_depend>bosdyn_keepalive_api_msgs</exec_depend>
   <exec_depend>bosdyn_log_status_api_msgs</exec_depend>
+  <exec_depend>bosdyn_metrics_logging_api_msgs</exec_depend>
   <exec_depend>bosdyn_mission_api_msgs</exec_depend>
   <exec_depend>bosdyn_spot_api_msgs</exec_depend>
   <exec_depend>bosdyn_spot_cam_api_msgs</exec_depend>

diff --git a/bosdyn_spot_api_msgs/config/overlay.yaml b/bosdyn_spot_api_msgs/config/overlay.yaml
@@ -1,6 +1,7 @@
 package_mapping:
   bosdyn.api: bosdyn_api_msgs
   bosdyn.api.docking: bosdyn_api_msgs
+  bosdyn.api.gps: bosdyn_api_msgs
 python_imports:
   - bosdyn_api_msgs.msg
 inline_python_imports:

diff --git a/bosdyn_spot_api_msgs/package.xml b/bosdyn_spot_api_msgs/package.xml
@@ -5,7 +5,7 @@ Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_spot_api_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>Boston Dynamics Spot API ROS 2 interfaces</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/bosdyn_spot_cam_api_msgs/config/overlay.yaml b/bosdyn_spot_cam_api_msgs/config/overlay.yaml
@@ -1,6 +1,7 @@
 package_mapping:
   bosdyn.api: bosdyn_api_msgs
   bosdyn.api.docking: bosdyn_api_msgs
+  bosdyn.api.gps: bosdyn_api_msgs
 python_imports:
   - bosdyn_api_msgs.msg
 inline_python_imports:

diff --git a/bosdyn_spot_cam_api_msgs/package.xml b/bosdyn_spot_cam_api_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bosdyn_spot_cam_api_msgs</name>
-  <version>3.3.2</version>
+  <version>4.0.0</version>
   <description>Boston Dynamics Spot API ROS 2 interfaces</description>
   <maintainer email="engineering@theaiinstitute.com">BD AI Institute</maintainer>
   <license>MIT</license>

diff --git a/pip-constraint.txt b/pip-constraint.txt
@@ -1,4 +1,4 @@
-bosdyn-api==3.3.2
-bosdyn-choreography-protos==3.3.2
+bosdyn-api==4.0.0
+bosdyn-choreography-protos==4.0.0
 # ensure protoc 3.12.4 compatibility
 protobuf<=4.22.4
diff --git a/ros_utilities b/ros_utilities