bdaiinstitute / spot_ros2 / 11633850631

52%

Build Type

push

github

Committed by web-flow

Commit Message

[SW-1539] don't publish images from hand camera if gripperless param set (#518)

## Change Overview

The `gripperless` parameter was added recently to the python spot_ros2.py node . This also adds support for the same parameter in the C++ nodes, namely the image publishing stack so it doesn't try to request images from the hand camera if the robot is gripperless.

## Testing Done

- [x] Ran image publishers on a robot with an arm and the gripperless param set to `True` (since I didn't have access to a robot with the gripperless firmware currently). Hand camera does not get published to. 
- [x] new CI tests pass

Run Details

6 of 12 new or added lines in 2 files covered. (50.0%)

7 existing lines in 1 file now uncovered.

1939 of 3798 relevant lines covered (51.05%)

36.5 hits per line