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bdaiinstitute / spot_ros2 / 8473033540
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DEFAULT BRANCH: main
Ran 28 Mar 2024 08:14PM UTC
Jobs 12
Files 47
Run time 1min
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28 Mar 2024 08:04PM UTC coverage: 54.503% (+1.4%) from 53.123%
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[SW-735] Update spot_ros2 for the new ArmImpedanceCommandStatus enum (#301)

## Change Overview

Per the [4.0.0 release notes](https://dev.bostondynamics.com/docs/release_notes) there is a new enum in `ArmImpedanceFeedbackStatus` called `STATUS_TRAJECTORY_CANCELLED` (view details with `ros2 interface show bosdyn_api_msgs/msg/ArmImpedanceCommandFeedbackStatus`). If we receive a feedback message from a robot command with this status in `spot_ros2`, this will indicate that the Goal Response has failed. 

## Testing Done

- [x] All `spot_examples` successful (`walk_forward`, `arm_simple`, `send_inverse_kinematics_requests`)
- [x] internal examples using arm impedance control still work (`example_impedance_control.py`)
- [x] Manually try setting status to `STATUS_TRAJECTORY_CANCELLED` within `spot_ros2.py` to force a cancellation, verify that it gets cancelled on same internal arm impedance control examples. 
- [x] new unit tests passed

1991 of 3653 relevant lines covered (54.5%)

17.05 hits per line

Jobs
ID Job ID Ran Files Coverage
11 unittests-python - 8473033540.11 28 Mar 2024 08:14PM UTC 0
30.76
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12 unittests-cpp - 8473033540.12 28 Mar 2024 08:14PM UTC 0
62.9
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9 unittests-python - 8468642371.9 28 Mar 2024 02:23PM UTC 0
30.76
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10 unittests-cpp - 8468642371.10 28 Mar 2024 02:23PM UTC 0
62.9
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8 unittests-python - 8468211789.8 28 Mar 2024 01:49PM UTC 0
30.38
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6 unittests-cpp - 8457293850.6 27 Mar 2024 07:16PM UTC 0
62.9
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5 unittests-python - 8457293850.5 27 Mar 2024 07:16PM UTC 0
30.38
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4 unittests-cpp - 8452233199.4 27 Mar 2024 01:13PM UTC 0
62.92
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3 unittests-python - 8452233199.3 27 Mar 2024 01:13PM UTC 0
30.38
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2 unittests-cpp - 8440695561.2 26 Mar 2024 06:07PM UTC 0
62.92
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1 unittests-python - 8440695561.1 26 Mar 2024 06:07PM UTC 0
30.38
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7 unittests-cpp - 8468211789.7 28 Mar 2024 01:49PM UTC 0
62.9
GitHub Action Run
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