teleoperate the robot

[olaghattas]

Hello,

I am trying to write a ROS node that allows me to teleoperate Spot's arm. In the spot-sdk, there is an arm_wasd.py example file that uses the ArmVelocityCommand API to send end-effector velocity commands. However, I cannot find an equivalent interface in this spot_ros2 package.

Here’s what I’ve tried so far:

1. Sending poses via the robot_command action server: I computed the displacement and attempted to send new positions as poses. Unfortunately, this did not work well for my use case.
2. Using the robot_command service: This allows me to control the body’s velocity but does not allow me to control the velocity of the end effector.

Could you please guide me on how to achieve arm teleoperation with spot_ros2? Any examples or documentation would be greatly appreciated.

For reference, here is the link to the arm_wasd.py file in the spot-sdk: https://github.com/boston-dynamics/spot-sdk/blob/master/python/examples/arm_wasd/arm_wasd.py

Thank you for your help!