16499222913
52%

Ran 24 Jul 2025 02:23PM UTC

Jobs 2

Files 57

Run time 1min

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Committed 24 Jul 2025 02:09PM UTC coverage: 51.189% (+0.1%) from 51.07%

Build # 16499222913

Build Type

push

github

Committed by

web-flow

Commit Message

Robot state rate and image rate parameters (#709)

## Change Overview

Currently on main, robot state rate is hardcoded to 50 Hz and image publish rate is hardcoded to 15 Hz. This PR makes this info come from ROS parameters (while leaving the default behavior unchanged). 

## Testing Done

- [x] Tested on robot -- default behavior is unchanged, but I can manually lower the rate of state/image publishing by changing the new parameters

Coverage Stats

2110 of 4122 relevant lines covered (51.19%)

27.25 hits per line

Coverage Regressions

Lines	Coverage	∆	File
9	88.28	0.58%	spot_driver/src/interfaces/rclcpp_parameter_interface.cpp
6	87.32	0.37%	spot_driver/src/images/spot_image_publisher.cpp

Jobs

ID	Job ID	Ran	Files	Coverage
1	unittests-cpp - 16499222913.1	24 Jul 2025 02:23PM UTC	50	69.63	GitHub Action Run
2	unittests-python - 16499222913.2	24 Jul 2025 02:23PM UTC	7	38.26	GitHub Action Run

bdaiinstitute / spot_ros2 / 16499222913
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bdaiinstitute / spot_ros2 / 16499222913 52%

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bdaiinstitute / spot_ros2 / 16499222913
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