bosdyn_msgs

These messages are generated from spot-sdk sources.

How to release

Just push a tag with an appropriate release version to this repository e.g.:

git tag MAJOR.MINOR.PATCH
git push origin MAJOR.MINOR.PATCH

This will trigger a release job. Once the release is complete, bosdyn_msgs-bundle_MAJOR.MINOR.PATCH-*.run binary bundles will be made available as release assets. As of January 2024, releases include binary bundles compatible with ROS 2 Humble Hawksbill on Ubuntu Jammy 22.04 for AMD64 and ARM64 architectures.

Attention: it is strongly advised to keep package versions and tags in lockstep with the version of the latest Boston Dynamics Spot SDK release to PyPI. This can be achieved by updating versions in package.xml files and pip-constraint.txt file to match each other and the tag.

How to install

Just grab a binary bundle for your architecture (e.g. downloaded from a release page) and execute it.

Packages will be installed alongside your ROS 2 distribution (e.g. under /opt/ros/<distribution>).

How to bundle

First, ensure QEMU virtualization for multi-platform Docker containers is enabled:

sudo apt-get install qemu binfmt-support qemu-user-static
sudo docker run --rm --privileged multiarch/qemu-user-static --reset -p yes

Now, simply invoke make -jN at the repostory root with a suitable number of jobs N. This will build bosdyn_msgs_unknown-bundle-amd64.run and bosdyn_msgs_unknown-bundle-arm64.run binary bundles (of unknown version, as none was specified).

You can also bundle fewer packages for specific architectures with:

make -jN <package_name>-bundle-<arch>.run

Binary bundles include the target package and its local dependencies.

Note: QEMU virtualization makes for very slow builds (from minutes to hours).

How to build

You can build these packages in colcon workspaces, like you would for any other ROS 2 package. First, ensure ROS 2 Humble Hawksbill is installed. That includes development tools:

sudo apt update && sudo apt install -y python3-pip ros-dev-tools

Then clone this repository into a workspace:

mkdir -p workspace/src; cd workspace
git -C src clone --recursive https://github.com/bdaiinstitute/bosdyn_msgs.git

When installing package dependencies, make sure pip constraints are enforced:

PIP_CONSTRAINT=src/bosdyn_msgs/pip-constraint.txt rosdep install -i -y --from-path src

This will ensure apt and pip managed packages are compatible with each other.

Then you can build:

colcon build