13597259527
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Ran 28 Feb 2025 10:16PM UTC

Jobs 2

Files 55

Run time 1min

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Committed 28 Feb 2025 10:03PM UTC coverage: 52.487%. Remained the same

Build # 13597259527

Build Type

push

github

Committed by

web-flow

Commit Message

[SW-2049] custom controller for streaming joint gains (#590)

## Change Overview

Adds a new controller, `SpotJointController` that lets you stream any combination of position, velocity, effort, k_q_p, and k_qd_p to Spot.
This is then integrated with `spot_ros2_control` as an optional controller that can be launched with the stack. This also includes documentation for this new controller and an example that can be run on robot.

## Testing Done

- [x] Tested new controller on robot, verified that differing gain values change robot motion.

Run Details

1952 of 3719 relevant lines covered (52.49%)

29.3 hits per line

Jobs

ID	Job ID	Ran	Files	Coverage
1	unittests-python - 13597259527.1	28 Feb 2025 10:16PM UTC	9	41.54	GitHub Action Run
2	unittests-cpp - 13597259527.2	28 Feb 2025 10:16PM UTC	46	70.56	GitHub Action Run

bdaiinstitute / spot_ros2 / 13597259527
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