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Spot C++ SDK Release Notes

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

API

Please see the General Release Notes for a description of the API changes included in release 5.1.0.

SDK

Clients

  • Fixed a potential segmentation fault when calling ListServices() on a Robot instance from multiple threads. Previously, while client creation and client objects were thread-safe, the internal updates to the robot's maps of authorities and endpoints were not. This could result in a crash if two threads called ListServices() concurrently.

  • Added UploadSnapshots and UploadSnapshotsAsync methods to GraphNavClient.

Helper Functions

  • Added EigenFromApiProto(const ::bosdyn::api::SE2Pose&) to proto_math.cpp. This function converts a ::bosdyn::api::SE2Pose proto message into an Eigen::Isometry2d, constructing the corresponding 2D transformation matrix from the proto's angle and position fields.

Spot C++ SDK version 5.0.1.2 BETA

There have been no changes in the C++ SDK between 5.0.1.1 and this version.

Please see the General Release Notes for a description of the API changes included in this release.

Spot C++ SDK version 5.0.1.1 BETA

There have been no changes in the C++ SDK between 5.0.1 and this version.

Please see the General Release Notes for a description of the API changes included in this release.

Spot C++ SDK version 5.0.1 BETA

Bug Fixes and Improvements

SDK

  • Enhanced error handling and client notification for authentication token expiration and directory registration failures in long-running Spot API clients and services has been addressed. This was a long-standing issue that would occur if an API client was unable to refresh its authentication token for an extended period of time (due to e.g., prolonged network connectivity issues, issues with the robot's services), which would result in the token expiring without any clear indication to client code. Since most payload services are intended to run continuously, this would result in silent failures and loss of service functionality. To take advantage of this new functionality, register a error callback on the Robot class instance by calling SetTokenRefreshErrorCallback with the callback to invoke on error. For DirectoryRegistrationKeepAlive and PayloadRegistrationKeepAlive, these callbacks are supplied in the constructor.

Spot C++ SDK version 5.0.0 BETA

Bug Fixes and Improvements

API

Please see the General Release Notes for a description of the API changes included in release 5.0.0.

SDK

Clients

Helper Functions

  • Added a helper function, NSecToDuration, to time.cpp that simplifies the creation of ::google::protobuf::Duration objects from nanosecond inputs.

  • Added two helper functions, EigenToApiProto and CreateVec2, proto_math.cpp to streamline the creation of API-compatible math messages.

    • EigenToApiProto converts the input Eigen::Quaternion object to a ::bosdyn::api::Quaternion object.
    • CreateVec2 returns a ::bosdyn::api::Vec2 object based upon the input x and y.

  • Added two file helper functions, ParseMessageFromFileWithError and WriteMessageToFileWithError, in proto_file.cpp that return an error code to provide specific details about read/write failures, supplementing the existing boolean success indicators. Use the new functions for more granular error handling.

Miscellaneous

  • The preprocessor directive responsible for verifying the GNU Compiler Collection (GCC) version now handles environments where __GNUC__ is undefined.

Spot Sample Code

Updated

  • The joint control example now includes a CMakeLists.txt file, enabling its compilation using the CMake build system for improved ease and correctness.

Deprecations

Please see the General Release Notes for a description of the API deprecations included in release 5.0.0.

Spot C++ SDK version 4.1.1 BETA

Compatibility

The recommended Ubuntu version is now Linux Ubuntu 22.04 LTS (formerly 18.04 LTS). Please see the quickstart for more information.

Bug Fixes and Improvements

API

Please see the General Release Notes for a description of the API changes included in release 4.1.1.

Deprecations

Please see the General Release Notes for a description of the API deprecations included in release 4.1.1.

Spot C++ SDK version 4.1.0 BETA

New Features

Graph Nav

Bug Fixes and Improvements

API

Please see the General Release Notes for a description of the API changes included in release 4.1.0.

SDK

Math & Frame Helpers

  • A new reference frame, "feet_center", has been added. Please see the General Release Notes for more information.

  • The supplied z_height argument in the SafeInflate method is now actually used. Previously, the z_height argument was not passed to the inner method, Inflate, and hence defaulted to 0.0, regardless of its value, thereby leading to an incorrect z-coordinate in the returned SE3Pose.

Deprecations

Please see the General Release Notes for a description of the API deprecations included in release 4.1.0.

Spot Sample Code

Updated

Spot C++ SDK version 4.0.3 BETA

No changes from 4.0.2.

Spot C++ SDK version 4.0.2 BETA

Please see the General Release Notes for a description of the API changes included in release 4.0.2.

New Features

Joint Control

The Joint Control API allows for low-level control of the robot's joints. Note that this API is experimental and license-limited; the robot must have a Joint Level Control license installed in order for this API to be used. Please see the documentation for more information and supplemental robot information which may be useful for development or simulation of the robot.

Bug Fixes and Improvements

API

Please see the General Release Notes for a description of the API changes included in release 4.0.2.

SDK

Deprecations

  • Deprecated ValidateRequestHeaderAndRespond method in common_header_handling.h. Please use the other overload of ValidateRequestHeaderAndRespond going forward.

  • Deprecated BlockUntilArmArrives and BlockUntilGripperArrives methods in robot_command_helpers.h. Please use the other overloads of BlockUntilArmArrives and BlockUntilGripperArrives going forward.

Spot Sample Code

New

  • Joint Control: Robot Squat: An example that utilizes the joint control API to move the robot for a robot without an arm attached.

  • Joint Control: Wiggle Arm: An example that utilizes the joint control API to move the robot for a robot with an arm attached.

Spot C++ SDK version 4.0.1 BETA

Please see the General Release Notes for a description of the API changes included in release 4.0.1.

In addition to that, there are no changes in 4.0.1 except the following:

  • The VERSION field in the project name has been updated to 4.0.1 from 4.0.0

Spot C++ SDK version 4.0.0 BETA

Breaking Changes

The following fields and services have been removed.

  • LogAnnotationService
  • Auth application token.
  • Robot commands: non-synchronized mobility commands. Top-level feedback messages.
  • Graph Nav map edge annotations: vel_limit, ground_mu_hint, grated_floor
  • SpotCheck feedback: foot_height_results and leg_pair_results
  • The choreography proto libraries have been deprecated and removed. The protos included in libbosdyn_choreography_protos.so and libbosdyn_choreography_protos_static.a will now be included in libbosdyn_api.so and libbosdyn_api_static.a.

Bug Fixes and Improvements

API

Please see the General Release Notes for a description of the API changes included in release 4.0.0.

SDK

The C++ standard in the CMake file has been changed from cxx_std_14 to cxx_std_17.

Clients are now configured with a default 5s keep-alive time, which triggers a faster reconnect with the service, when the network connection goes down.

Lease update change: ignore failed old leases in the case the wallet contains the new lease.

Data Acquisition Client

  • Added GetLiveData method to allow payloads to publish live data to the robot that is displayed on the tablet and Orbit during teleoperation

Data Acquisition Store Client

  • Added QueryStoredCaptures method to enable retrieval of data from the robot using gRPC instead of the /v1/data-buffer/daq-data/ endpoint
  • Added QueryMaxCaptureId method, which returns the the max_capture_id corresponding to the greatest capture ID on the robot; this can be used to exclude preexisting data on the robot from retrieval by setting the captures_from_id field in the QueryParameters message accordingly.

Mission Client

  • Added GetInfoAsChunks method, which enables the retrieval of static information describing the mission for missions whose size exceeds the maximum message size.

Power Client

  • Added ResetSafetyStop method, which enables the primary and redundant safety stops on a Safety-Related Stopping Function (SRSF) configured robot. Robots equipped with this feature will be listed as SRSF "Enabled" under the hardware information section found in the "About" page on the robot's admin console.
  • Added a set of helper functions in power_client_helper.h to be used with a power client.

SpotCam Compositor Client

  • Now sets both the coords (deprecated in v3.3) and meter fields for backwards compatibility purposes in the corresponding methods.

Math & Frame Helpers

  • The ExternalStringToInternalString and InternalStringToExternalString methods now return std::nullopt if the frame name does not exist.
  • The kinematic_state's transforms_snapshot now uses "arm0.link_wr1" instead of "link_wr1" for the name of the frame attached to the SpotArm's wr1 link. This is (1) the name used in the URDF description of the robot and (2) the name used in the image service snapshots. We will continue to publish the kinematic_state's snapshot with the deprecated name in the 4.0 release, but it will be removed in a future release.
  • An enum class called RobotSpecies has been added.
  • Two frame names have been added, namely ecef (Earth-centered, Earth-fixed) and enu (East-North-Up), that are used for localization with respect to the Earth.
  • Renamed find_tree_root method as FindTreeRoot
  • Added a helper function ReparentFrame

Autowalk Player

  • Sets navigation_id instead of root_id in the SetNodeMap method; the latter is deprecated as of v4.0

Deprecations

Please see the General Release Notes for a description of the API deprecations included in release 4.0.0.

Dependencies

Known Issues

Sample Code

Spot C++ SDK version 3.3.1 BETA

No changes from 3.3.0.

Upcoming Removals

In the upcoming release 4.0, we plan to change the encoding for real-valued fields in local grids to RAW instead of RLE (Run-Length Encoded) and provide client helpers for decoding. Make sure your code handles the encoding field in LocalGridResponse correctly.

Spot C++ SDK version 3.3.0 BETA

New Features

Added KeepAlive client (BETA) to support corresponding proto additions.

Added LogStatus client to support corresponding proto additions.

Added Manipulation API Client.

Added InverseKinematics client to support corresponding proto additions.

Bug Fixes and Improvements

API

Please see the General Release Notes for a description of the API changes included in release 3.3.0.

SDK

Improved conversion of grpc::StatusCode::UNAVAILABLE error statuses to SDK error codes in rpc_error_code.cpp.

Added AutoReturn client error codes for StartResponse Status enumeration.

Return errors from converting data chunk to a response in Autowalk client CompileAutowalk RPC, instead of returning the more generic GenericSDKError errors.

Data Chunk

  • Reduced chunk size from 4MB to 2MB.
  • Added call to reserve the string capacity to avoid the frequent memory reallocations.

Mission Client

  • Added LoadMissionAsChunks2 method to support bidirectional streaming in the LoadMissionAsChunks RPC.
  • Added GetMissionAsChunks methods to support the corresponding RPC.

Robot Command

  • Added helper methods in robot_command_builder for using the Spot Arm.
  • Added BodyPose method in robot_command_builder for creating a BodyControlParams.BodyPose from a single desired body_pose relative to frame_name.
  • Added a set of helper functions in robot_command_helpers.h to be used with a robot command client.

Added ProcessAndInitiateRequestStreamAsyncCall method in ServiceClient, which packages a full request message that includes an API RequestHeader into multiple DataChunk messages that are streamed directly to the robot via a request-streaming RPC.

Spot CAM Clients

  • Compositor Client
    • Added more versions of SetIrMeterOverlay method with various argument combinations.
    • Added GetIrMeterOverlay methods.
  • PTZ Client
    • Added methods for GetPtzFocusState, SetPtzFocusState RPCs.
  • StreamQuality Client
    • Added more versions of SetStreamParams method with various argument combinations.

Added support for WORLD_OBJECT_STAIRCASE and WORLD_OBJECT_USER_NOGO types in WorldObjects Client.

Added NowSec and NowTimePoint methods in common time helper methods.

Added various arm frame names and the stairs base frame names for world objects in common API frames.

Added EigenFromApiProto/EigenToApiProto, FromRoll/ToRoll, FromPitch/ToPitch methods in common proto math helper methods.

Deprecations

Please see the General Release Notes for a description of the API deprecations included in release 3.3.0.

Sample Code

New

Arm Grasp Carry Overrides: Sets arm grasp state and carry state overrides while moving the arm around.

Arm Manipulation API Walk To Object: Sends a WalkToObjectRayInWorld command to the robot via the Manipulation API.

Inverse Kinematics Reachability: Shows how to use the Inverse Kinematics Service API to make reachability queries for random arm poses.

Updated

Query Autowalk Status: Modified the example to contain a mission_name command line argument. If the mission_name is not specified, the script attempts to guess the mission name.

Spot C++ SDK version 3.2.3 BETA

No changes from 3.2.2 BETA.

Spot C++ SDK version 3.2.2 BETA

Bug Fixes and Improvements

Updated Robot and ClientSDK classes to enable applications to specify the LeaseWallet used in instantiated clients.

Added GetSystemLog methods in HealthClient.

Spot C++ SDK version 3.2.1 BETA

No changes from 3.2.0.

Spot C++ SDK version 3.2.0 BETA

New Features

Autowalk Service

Enables API clients to specify high level autonomous behaviors for Spot using an easily editable format. The autowalk format is a list of actions and their associated locations. Using this service, users can program the robot to “go to location A, perform action A, go to location B, perform action B, etc.”. The autowalk service compiles the autowalk into a behavior tree that can then be uploaded to the robot and played using the mission service. Previously this feature was only available on the tablet, but now it is a service for all client applications.

Graph Nav – Area Callbacks

Enables users to register a callback that is called in certain areas of the map during navigation. These “Area Callbacks” can instruct the robot to wait until the area is safe to cross (such as a crosswalk), take control of the robot and perform an action (such as opening a door), or perform a background action while in a certain area of the map (such as flashing lights or playing sounds). This enables integration with the Graph Nav navigation system to extend its capabilities in terms of safety and new actions while navigating. See the Area Callback documentation for more details.

Bug Fixes and Improvements

API

Please see the General Release Notes for a description of the API changes included in release 3.2.0.

SDK

Added RetryableUnavailableError RPCErrorCode and RetryableRPCCondition to check whether a failed RPC should be retried.

Fixed issues in the ConvertGRPCStatus method that converts grpc:Status to our ::bosdyn::common::Status.

Added LoadMissionAsChunks and LoadMissionAsChunksAsync methods in MissionClient.

Added FanPowerCommandAsync and FanPowerCommand methods in PowerClient.

Added UpdateSecureChannelPort in Robot class to update the port used for creating secure channels, instead of using the default 443

Fixed ordering of adding RPC calls to the gRPC completion queue in ServiceClient class to fix a memory leak caused if RPCs are completed right away.

Added InitiateRequestStreamAsyncCallWithChunking and InitiateRequestResponseStreamAsyncCallWithChunking helper functions in ServiceClient class to be used when directly streaming DataChunks.

Added SetupRequestStreamCall and SetupRequestResponseStreamCall helper functions in ServiceClient class that initiates a request stream async call.

Added Is helper function in Status class to check if this Status matches a certain error enum.

Deprecations

Please see the General Release Notes for a description of the API deprecations included in release 3.2.0.

Breaking Changes

Updated StringToDataChunksand MessageToDataChunks method signatures in data_chunking to accept a vector of ::bosdyn::api::DataChunk instead of a vector of std::unique_ptr<::bosdyn::api::DataChunk>.

Dependencies

Known Issues

Sample Code

Query Autowalk Status: Example that loads an Autowalk and GraphNav map to the robot from a file. It then queries the status of elements and actions in the walk as the Autowalk mission plays.

Spot C++ SDK version 3.1.2 BETA

No changes from 3.1.0.

Spot C++ SDK version 3.1.1 BETA

No changes from 3.1.0.

Spot C++ SDK version 3.1.0 BETA

Please refer to 3.1.0 section in Python SDK documentation for changes in the protobuf definitions in this release.

New Features

New Clients

Added DataAcquisitionStoreClient for communication with DataAcquisitionStore service.

Added GripperCameraParamClient for communication with new GripperCameraParam service.

Added LicenseClient for communication with License service.

C++ Helpers

Added IntersectRayPlane helper function in proto_math.

Added image source name helper functions.

Added world object type helper functions.

Bug Fixes and Improvements

GraphNav

Fixed conversions of status enumerations to std::error_code in the messages ClearGraphResponse, NavigateToAnchorResponse, UploadWaypointSnapshotResponse, UploadGraphResponse.

Image Client

Added resize_ratio argument in BuildImageRequest function.

Spot C++ SDK version 3.0.3 BETA

No changes from 3.0.2.

Spot C++ SDK version 3.0.2 BETA

Initial Beta release of the Spot C++ SDK.