5.1.4 update

README.md

@@ -21,7 +21,7 @@ The official Spot SDK documentation also contains information relevant to the C+
 - [Payload developer documentation](https://dev.bostondynamics.com/docs/payload/readme). Payloads add additional sensing, communication, and control capabilities beyond what the base platform provides. The Payload ICD covers the mechanical, electrical, and software interfaces that Spot supports.
 - [Spot API protocol definition](https://dev.bostondynamics.com/docs/protos/readme). This reference guide covers the details of the protocol applications used to communicate to Spot. Application developers who wish to use a language other than Python can implement clients that speak the protocol.
 
-This is version 5.1.0 of the C++ SDK. Please review the [Release Notes](docs/cpp_release_notes.md) to see what has changed.
+This is version 5.1.4 of the C++ SDK. Please review the [Release Notes](docs/cpp_release_notes.md) to see what has changed.
 
 ## Contents
 

cpp/CMakeLists.txt

@@ -7,7 +7,7 @@
 # This file is autogenerated.
 
 cmake_minimum_required (VERSION 3.10.2)
-project (bosdyn VERSION 5.1.0)
+project (bosdyn VERSION 5.1.4)
 
 # Dependencies:
 find_package(Protobuf REQUIRED)

cpp/bosdyn/client/data_acquisition/data_acquisition_client.cpp

@@ -84,6 +84,7 @@ DataAcquisitionGetStatusResultType DataAcquisitionClient::GetStatus(
     return GetStatusAsync(request, parameters).get();
 }
 
+
 void DataAcquisitionClient::OnGetStatusComplete(
     MessagePumpCallBase* call, const ::bosdyn::api::GetStatusRequest& request,
     ::bosdyn::api::GetStatusResponse&& response, const grpc::Status& status,

cpp/bosdyn/client/data_acquisition/data_acquisition_client.h

@@ -67,6 +67,7 @@ class DataAcquisitionClient : public ServiceClient {
         ::bosdyn::api::CancelAcquisitionRequest& request,
         const RPCParameters& parameters = RPCParameters());
 
+
     // Asynchronous RPC to request live data for each capability.
     std::shared_future<DataAcquisitionLiveDataResultType> GetLiveDataAsync(
         ::bosdyn::api::LiveDataRequest& request, const RPCParameters& parameters = RPCParameters());
@@ -120,6 +121,7 @@ class DataAcquisitionClient : public ServiceClient {
                             ::bosdyn::api::LiveDataResponse&& response, const grpc::Status& status,
                             std::promise<DataAcquisitionLiveDataResultType> promise);
 
+
     std::unique_ptr<::bosdyn::api::DataAcquisitionService::StubInterface> m_stub;
 
     // Default service name for the Data Acquisition service.

docs/cpp_release_notes.md

@@ -8,6 +8,14 @@ Development Kit License (20191101-BDSDK-SL).
 
 # Spot C++ SDK Release Notes
 
+## Spot C++ SDK version 5.1.4 BETA
+
+- No changes from 5.1.1
+
+## Spot C++ SDK version 5.1.1 BETA
+
+- No changes from 5.1.0
+
 ## Spot C++ SDK version 5.1.0 BETA
 
 ### Bug Fixes and Improvements

protos/bosdyn/api/basic_command.proto

@@ -101,7 +101,14 @@ message StopCommand {
 // Freeze all joints at their current positions (no balancing control).
 message FreezeCommand {
     message Request {
-        // Freeze command request takes no additional arguments.
+        // Optional mode for freeze behavior.
+        enum Mode {
+            MODE_UNKNOWN = 0;
+            MODE_DEFAULT = 1;
+            // Freeze with higher joint gains to minimize deformation under external loads.
+            MODE_STIFF = 2;
+        }
+        Mode mode = 1;
     }
 
     message Feedback {

protos/bosdyn/api/mission/nodes.proto

@@ -414,6 +414,62 @@ message BosdynNavigateToAnchor {
 
 }
 
+// Tell the robot to navigate to a pose in the seed frame
+message BosdynNavigateToAnchor {
+    // Name of the service to use.
+    string service_name = 1;
+    // Host machine the service is running on.
+    string host = 2;
+
+    // Desired goal pose in seed frame.
+    bosdyn.api.SE3Pose seed_tform_goal = 3;
+
+    // Preferences on how to pick the route.
+    bosdyn.api.graph_nav.RouteGenParams route_gen_params = 4;
+    // Parameters that define how to traverse and end the route.
+    bosdyn.api.graph_nav.TravelParams travel_params = 5;
+
+    // If provided, this will write the last NavigationFeedbackResponse message
+    // to a blackboard variable with this name.
+    string navigation_feedback_response_blackboard_key = 6;
+    // If provided, this will write the last NavigateToResponse message to
+    // a blackboard variable with this name.
+    string navigate_to_anchor_response_blackboard_key = 7;
+
+    // If provided, parameters from this request will be merged with the other parameters defined in
+    // the node and be used in the NavigateToAnchor RPC.
+    string navigate_to_anchor_request_blackboard_key = 8;
+
+}
+
+// Tell the robot to navigate to a pose in the seed frame
+message BosdynNavigateToAnchor {
+    // Name of the service to use.
+    string service_name = 1;
+    // Host machine the service is running on.
+    string host = 2;
+
+    // Desired goal pose in seed frame.
+    bosdyn.api.SE3Pose seed_tform_goal = 3;
+
+    // Preferences on how to pick the route.
+    bosdyn.api.graph_nav.RouteGenParams route_gen_params = 4;
+    // Parameters that define how to traverse and end the route.
+    bosdyn.api.graph_nav.TravelParams travel_params = 5;
+
+    // If provided, this will write the last NavigationFeedbackResponse message
+    // to a blackboard variable with this name.
+    string navigation_feedback_response_blackboard_key = 6;
+    // If provided, this will write the last NavigateToResponse message to
+    // a blackboard variable with this name.
+    string navigate_to_anchor_response_blackboard_key = 7;
+
+    // If provided, parameters from this request will be merged with the other parameters defined in
+    // the node and be used in the NavigateToAnchor RPC.
+    string navigate_to_anchor_request_blackboard_key = 8;
+
+}
+
 // Tell the robot to navigate a route.
 message BosdynNavigateRoute {
     // Name of the service to use.

protos/bosdyn/api/mobility_command.proto

@@ -35,6 +35,9 @@ message MobilityCommand {
             StanceCommand.Request stance_request = 5;
             StopCommand.Request stop_request = 6;
             FollowArmCommand.Request follow_arm_request = 7;
+            // Mobility freeze for cases where the user wants to freeze only the lower body, leaving
+            // the arm free to move.
+            FreezeCommand.Request freeze_request = 8;
 
         }
 
@@ -62,7 +65,7 @@ message MobilityCommand {
             StanceCommand.Feedback stance_feedback = 5;
             StopCommand.Feedback stop_feedback = 6;
             FollowArmCommand.Feedback follow_arm_feedback = 7;
-
+            FreezeCommand.Feedback freeze_feedback = 8;
         }
 
         RobotCommandFeedbackStatus.Status status = 100;

protos/bosdyn/api/power.proto

@@ -272,3 +272,25 @@ message ResetSafetyStopResponse {
     // Current feedback of specified command.
     Status status = 3;
 }
+
+// Request fan information from the robot.
+message GetFanInformationRequest {
+    // Common request header.
+    RequestHeader header = 1;
+}
+
+message FanInformation {
+    // Fan frequency in hertz.
+    float frequency = 1;
+}
+
+// Response with fan information from various robot components.
+message GetFanInformationResponse {
+    // Common response header.
+    ResponseHeader header = 1;
+
+    // Map of fan name to fan information. Each robot might have a different set of fans to report.
+    // For example, Spot will report information for the fans "body_fan_0, body_fan_1, hips_fan_0,
+    // hips_fan_1".
+    map<string, FanInformation> fan_information = 2;
+}

protos/bosdyn/api/power_service.proto

@@ -30,6 +30,9 @@ service PowerService {
     rpc FanPowerCommandFeedback(FanPowerCommandFeedbackRequest)
         returns (FanPowerCommandFeedbackResponse) {}
 
+    // Get fan information.
+    rpc GetFanInformation(GetFanInformationRequest) returns (GetFanInformationResponse) {}
+
     // Reset the safety stop bit on SRSF-configured robots.
     rpc ResetSafetyStop(ResetSafetyStopRequest) returns (ResetSafetyStopResponse) {}
 }

protos/bosdyn/api/robot_state.proto

@@ -374,6 +374,11 @@ message BatteryState {
     // Temperatures may be measured in many locations across the battery.
     repeated double temperatures = 7;
 
+    // Measured battery communications loss percentage. Measured value from 0.0 to 100.0, where 0.0
+    // means no communication loss and 100.0 means complete communication loss with the battery. If
+    // there is no battery in the robot, this value may be 0.0 or left unset.
+    google.protobuf.DoubleValue communications_loss_percent = 9;
+
     enum Status {
         // The battery is in an unknown / unexpected state.
         STATUS_UNKNOWN = 0;