[N/A] Add crouching stand service

[llee-bdai]

Change Overview

Adding in a service to crouch (stand at the lowest height possible) Spot. This is needed to increase the reachable space closer to the ground :)

[khughes-bdai]

I'm good with this change but just curious if you tried using the /body_pose topic? I haven't tried it on robot but it supposedly lets you move the height + orientation of the body at once.

spot_ros2/spot_driver/spot_driver/spot_ros2.py

Line 2506 in 24e2886

def body_pose_callback(self, data: Pose) -> None:

[tcappellari-bdai]

im good with this addition

[llee-bdai]

@khughes-bdai it does work with /body_pose if you publish a Pose but I kind of wanted a trigger service for this. But I also completely understand if this is just more fluff that isn't needed, in which case I will use /body_pose

I'm not going to die on this crouch hill, just makes my life easier :)

[khughes-bdai]

LGTM, good to know that body pose still works!

[scastro-bdai]

LGTM -- wondering if it makes any logical sense to change this to a SetBool so you can set crouch to be true/false, but maybe this instead is a bunch of trigger services for e.g., stand, sit, crouch, etc.?

It also may be too late to consider this, but is there also an option to have a single service with a string payload that can triage the string contents to do things like sit, stand, etc.?

[llee-bdai]

@scastro-bdai the reason I kept it as a Trigger here is mostly to follow the convention of how the Spot driver has so far been written.

On the behavior stack side (where I intend to use this), it already is a string for sit or stand or crouch

[coveralls]

Pull Request Test Coverage Report for Build 12936140185

Details

• 0 of 0 changed or added relevant lines in 0 files are covered.
• 402 unchanged lines in 1 file lost coverage.
• Overall coverage decreased (-0.06%) to 51.319%

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Files with Coverage Reduction	New Missed Lines	%
spot_ros2/spot_ros2/spot_driver/spot_driver/spot_ros2.py	402	44.35%

Totals
Change from base Build 12896262982:	-0.06%
Covered Lines:	1965
Relevant Lines:	3829

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💛 - Coveralls

[llee-bdai]

Merge activity

• Jan 23, 1:58 PM EST: A user started a stack merge that includes this pull request via Graphite.
• Jan 23, 1:59 PM EST: Graphite rebased this pull request as part of a merge.
• Jan 23, 2:16 PM EST: Graphite couldn't merge this PR because it failed for an unknown reason.