How I can add velocitycommand to a ros2 control node

[JiaheXu]

Hi BDAI,

I am following the spot_examples/walk_forward.py. I am trying to add a new callback function in ros2 for synchro_velocity_command(). For example, send a twist msg to the ros2 node and the ros2 node sends a synchro_velocity_command() for the spot. How can I add a subscriber for bdai_ros2_wrappers?

[khughes-bdai]

Hi @JiaheXu ,
The driver already has a subscription to the cmd_vel topic. This internally calls synchro velocity commands:

spot_ros2/spot_driver/spot_driver/spot_ros2.py

Line 2557 in d103f6f

def cmd_velocity_callback(self, data: Twist) -> None:

and
https://github.com/bdaiinstitute/spot_wrapper/blob/6548b7a899a517bc24f840ba5eb36519b109ea4c/spot_wrapper/wrapper.py#L1262
You should be able to use this to publish twists and move the robot with this, let me know if you run into issues.