[N/A] Add crouching stand service (#562)

Signed-off-by: Laura Lee <[email protected]>

spot_driver/spot_driver/spot_ros2.py

@@ -468,6 +468,12 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw
             lambda request, response: self.service_wrapper("stand", self.handle_stand, request, response),
             callback_group=self.group,
         )
+        self.create_service(
+            Trigger,
+            "crouch",
+            lambda request, response: self.service_wrapper("crouch", self.handle_crouch, request, response),
+            callback_group=self.group,
+        )
         self.create_service(
             Trigger,
             "rollover",
@@ -1158,6 +1164,15 @@ def handle_stand(self, request: Trigger.Request, response: Trigger.Response) ->
         response.success, response.message = self.spot_wrapper.stand()
         return response
 
+    def handle_crouch(self, request: Trigger.Request, response: Trigger.Response) -> Trigger.Response:
+        """ROS service handler for the crouch service (standing as low as possible)"""
+        if self.spot_wrapper is None:
+            response.success = False
+            response.message = "Spot wrapper is undefined"
+            return response
+        response.success, response.message = self.spot_wrapper.stand(body_height=-0.15)
+        return response
+
     def handle_rollover(self, request: Trigger.Request, response: Trigger.Response) -> Trigger.Response:
         """ROS service handler for the rollover service"""
         if self.spot_wrapper is None: