hw: make SlateBaseComponent a base-velocity teleop follower by abhichothani42 · Pull Request #258 · TrossenRobotics/trossen_sdk

abhichothani42 · 2026-06-22T23:59:44Z

Summary

Implements teleop::BaseSpaceTeleop on SlateBaseComponent so the SLATE mobile base can be driven as a teleop follower by any base-space leader. Without this, a base teleop pair silently runs leader-only and the base never moves.

Changes

write([linear_mps, angular_rps]) forwards the command to TrossenSlate::set_cmd_vel(); the driver applies its own velocity limits.
read() returns the base's current body-frame velocity, used once by the teleop controller to seed leader alignment.
end_teleop() commands zero velocity so the base halts on shutdown (idempotent).
Commands with fewer than two elements are ignored.

Test Plan

Builds cleanly (make build)
Tests pass (make test)
Lint passes (pre-commit run --all-files)
Tested on hardware

Breaking Changes

None. Purely additive — the base only acts as a follower when a teleop pair targets it with "space": "base"; flows that record the base as a producer are unaffected.

Related Issues

N/A — part of the VR teleoperation feature stack.

abhichothani42 · 2026-06-22T23:59:58Z

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Copilot

Pull request overview

This PR updates SlateBaseComponent to participate in the teleoperation system as a base-velocity-space component by implementing teleop::BaseSpaceTeleop, allowing it to read current base velocity and accept [linear_mps, angular_rps] velocity commands.

Changes:

Make SlateBaseComponent inherit from teleop::BaseSpaceTeleop.
Add read(), write(), and end_teleop() implementations that bridge teleop IO to the SLATE driver velocity APIs.
Update header documentation to describe the base-space teleop contract.

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 4 comments.

File	Description
`src/hw/base/slate_base_component.cpp`	Implements `BaseSpaceTeleop` IO (`read`/`write`) and teleop shutdown behavior (`end_teleop`).
`include/trossen_sdk/hw/base/slate_base_component.hpp`	Adds teleop interface inheritance, includes, and public API declarations/docs for the teleop IO contract.

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shantanuparab-tr · 2026-06-30T15:20:16Z

 }

+std::vector<float> SlateBaseComponent::read() {
+  if (!driver_) return {0.0f, 0.0f};


This should trigger some error. The user might not be able to debug this in case the driver is missing. Or just return {}. Fail early so it's easy to debug.

Done — read() logs and returns {} now, so a missing driver fails loudly instead of silently.
d072bda

shantanuparab-tr · 2026-06-30T15:21:08Z

+}
+
+void SlateBaseComponent::write(const std::vector<float>& cmd) {
+  if (!driver_ || cmd.size() < 2) return;


Should warn here. Else, it would be difficult to debug

Done, write() logs on this path now. d072bda

shantanuparab-tr · 2026-06-30T15:45:05Z

  return info;
 }

+std::vector<float> SlateBaseComponent::read() {


https://github.com/Interbotix/trossen_slate/blob/dd16cc8c327ce0269f839893520a302b47905d43/demo/basic_demo.cpp#L61-L62.

If we don't call update state we won't be able to get the latest state. Are we calling it anywhere else?

Good catch, added driver_->update_state() before reading so we return the current state, not a stale one.

shantanuparab-tr · 2026-06-30T15:46:23Z

+
+void SlateBaseComponent::write(const std::vector<float>& cmd) {
+  if (!driver_ || cmd.size() < 2) return;
+  driver_->set_cmd_vel(cmd[0], cmd[1]);


We are ignoring the bool return, might be a good idea to use it for erro logging.

Fixed we check the return and log on failure. d072bda

shantanuparab-tr · 2026-06-30T15:46:48Z

+
+void SlateBaseComponent::end_teleop() {
+  if (driver_) {
+    driver_->set_cmd_vel(0.0f, 0.0f);


use return value for error logging

Done, logs if stopping the base fails. d072bda

shantanuparab-tr

There's no base-space leader yet at this point in the stack, so I don't see how this ran end to end as a follower. What does "tested on hardware" cover here?

abhichothani42 · 2026-07-10T14:55:49Z

unchecked tested on hardware

Implement teleop::BaseSpaceTeleop on SlateBaseComponent so the SLATE mobile base can be driven as a teleop follower. - write([linear_mps, angular_rps]) forwards the command to TrossenSlate::set_cmd_vel(); the driver clamps to its velocity limits. - read() returns the base's current body-frame velocity, used once by the teleop controller to seed leader alignment. - end_teleop() commands zero velocity so the base halts on shutdown; idempotent. Purely additive: the base only acts as a follower when a teleop pair targets it with space "base". Existing flows that record the base as a producer are unaffected. Depends on the Base teleop space added in the previous PR.

abhichothani42 marked this pull request as ready for review June 23, 2026 00:00

abhichothani42 requested review from Copilot, lukeschmitt-tr and shantanuparab-tr June 23, 2026 00:01

Copilot started reviewing on behalf of abhichothani42 June 23, 2026 00:07 View session

Copilot AI reviewed Jun 23, 2026

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Comment thread src/hw/base/slate_base_component.cpp

Comment thread src/hw/base/slate_base_component.cpp

Comment thread include/trossen_sdk/hw/base/slate_base_component.hpp Outdated

Comment thread include/trossen_sdk/hw/base/slate_base_component.hpp

abhichothani42 force-pushed the vr-02-slate-base-follower branch from fd24c80 to 4dc5808 Compare June 23, 2026 00:58

abhichothani42 force-pushed the vr-01-base-space-teleop branch from 0a67445 to 2629656 Compare June 23, 2026 00:58

This was referenced Jun 28, 2026

arm: add EndEffectorPoseRecord and proto schema #267

Open

backend: add end-effector pose write support to TrossenMCAP #268

Open

arm: emit end-effector pose from TrossenArmProducer #269

Open

examples: update sanity check for end-effector pose #270

Open

shantanuparab-tr requested changes Jun 30, 2026

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shantanuparab-tr reviewed Jun 30, 2026

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abhichothani42 mentioned this pull request Jul 10, 2026

feat: post_event/attach_control queue for thread-safe session control #271

Open

4 tasks

abhichothani42 requested a review from shantanuparab-tr July 10, 2026 16:10

abhichothani42 mentioned this pull request Jul 14, 2026

utils: add RobotDescriptionCache for URDF download and mesh embedding #272

Open

4 tasks

shantanuparab-tr approved these changes Jul 15, 2026

View reviewed changes

abhichothani42 added 2 commits July 16, 2026 20:13

review: fail-early and log errors in SlateBaseComponent

efc7944

abhichothani42 force-pushed the vr-02-slate-base-follower branch from d072bda to efc7944 Compare July 17, 2026 14:48

abhichothani42 force-pushed the vr-01-base-space-teleop branch from 2629656 to 6791e23 Compare July 17, 2026 14:48

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abhichothani42 commented Jul 10, 2026

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abhichothani42 commented Jun 22, 2026 •

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