No changes from 3.2.0.
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.
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.
Please see the Release Notes in https://dev.bostondynamics.com for a description of the API changes included in release 3.2.0.
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.
Please see the Release Notes in https://dev.bostondynamics.com for a description of the API deprecations included in release 3.2.0.
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>.
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.
No changes from 3.1.0.
No changes from 3.1.0.
Please refer to 3.1.0 section in Python SDK documentation for changes in the protobuf definitions in this release.
Added DataAcquisitionStoreClient for communication with DataAcquisitionStore service.
Added GripperCameraParamClient for communication with new GripperCameraParam service.
Added LicenseClient for communication with License service.
Added IntersectRayPlane helper function in proto_math.
Added image source name helper functions.
Added world object type helper functions.
Fixed conversions of status enumerations to std::error_code in the messages ClearGraphResponse, NavigateToAnchorResponse, UploadWaypointSnapshotResponse, UploadGraphResponse.
Added resize_ratio argument in BuildImageRequest function.
No changes from 3.0.2.
Initial Beta release of the Spot C++ SDK.