def bodyPoseCallback(self, data):
"""Callback for cmd_vel command"""
q = Quaternion()
q.x = data.orientation.x
q.y = data.orientation.y
q.z = data.orientation.z
q.w = data.orientation.w
euler_zxy = q.to_euler_zxy()
self.spot_wrapper.set_mobility_params(data.position.z, euler_zxy)
def bodyPoseCallback(self, data):
"""Callback for cmd_vel command"""
q = Quaternion()
q.x = data.orientation.x
q.y = data.orientation.y
q.z = data.orientation.z
q.w = data.orientation.w
position = geometry_pb2.Vec3(z=data.position.z)
pose = geometry_pb2.SE3Pose(position=position, rotation=q)
point = trajectory_pb2.SE3TrajectoryPoint(pose=pose)
traj = trajectory_pb2.SE3Trajectory(points=[point])
body_control = spot_command_pb2.BodyControlParams(base_offset_rt_footprint=traj)
mobility_params = self.spot_wrapper.get_mobility_params()
mobility_params.body_control.CopyFrom(body_control)
self.spot_wrapper.set_mobility_params(mobility_params)