9686098936
52%

Ran 26 Jun 2024 08:22PM UTC

Jobs 2

Files 54

Run time 1min

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Committed 26 Jun 2024 08:10PM UTC coverage: 52.787% (-0.04%) from 52.83%

Build # 9686098936

Build Type

push

github

Committed by

web-flow

Commit Message

[SW-736] Only sit on shutdown if driver holds the estop (#417)

## Change Overview

Currently, when you CTRL+C the driver, Spot will sit. If the estop is held by the tablet, this is annoying to deal with if you are starting and stopping the driver often, so this PR removes this feature.

If the estop is held by the driver, we still need to force sitting on shutdown, otherwise the robot will collapse to the ground if you CTRL+C.

EDIT: https://github.com/bdaiinstitute/spot_wrapper/pull/122 and https://github.com/bdaiinstitute/spot_ros2/pull/420 need to go in first so I can use the blocking version of the sit command. 

## Testing Done

- [x] started driver without an estop (i.e., estop is controlled by the tablet). Upon CTRL+C'ing the driver, the robot doesn't sit.
- [x] started driver with an estop (i.e., added `start_estop: True` to my config yaml). Robot cleanly sits down upon driver CTRL+C

Run Details

1875 of 3552 relevant lines covered (52.79%)

14.18 hits per line

Jobs

ID	Job ID	Ran	Files	Coverage
1	unittests-cpp - 9686098936.1	26 Jun 2024 08:22PM UTC	0	70.44	GitHub Action Run
2	unittests-python - 9686098936.2	26 Jun 2024 08:22PM UTC	0	41.96	GitHub Action Run

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