Michal Staniaszek

I don't think this is the expected rate. in my experience the rate is usually something slightly above 8Hz. You can check the default rates that the driver uses in...

If you change the rate of the main loop at https://github.com/clearpathrobotics/spot_ros/blob/a09e6add6b0ed192ffd60b19c64055d08505d96d/spot_driver/src/spot_driver/spot_ros.py#L492 does that help at all?

Were you able to find any solution for this issue?

If you're using ros2, I recommend that you use the ros2 driver at https://github.com/bdaiinstitute/spot_ros2. That driver implements the image publishing in a separate node, which apparently improves performance. I hope...

A temporary fix for this might be to transform the values we get from `getOdomTwistFromState` into the body frame and publish it to a new topic like `/spot/odometry_corrected` and encourage...

There is now a topic `/spot/odometry_corrected` which should fix this issue.

What is the shape of the ndarray that you receive from `frombuffer`? Is there any way we can avoid doing the conversion? Reading https://numpy.org/doc/stable/reference/generated/numpy.ndarray.tolist.html indicates that it converts from numpy...

@mqcmd196 This looks like it's pretty much complete. I've merged in the recent changes to master. Can you check that it still works and I'll merge it to the main...

Do you have an EAP unit you can test this on? That's the only thing that was blocking me merging this.

Roll over and dock commands were added by #112.