jeremysee2

I've been testing the cmd_vel topic with Spot v3.2.0, found that it works better if you increase the command duration to 600ms. This follows the [wasd example from the SDK](https://github.com/boston-dynamics/spot-sdk/tree/master/python/examples/wasd)...

@heuristicus I'd like to merge this branch to master to make use of its functionality, is there anything I can do to help?

Yes I do, I'll post here once I've tested it out.

https://user-images.githubusercontent.com/32976023/223709665-3a2b19e5-aa2b-4799-85ab-a04b8ad58856.mov I've tested this branch on my Spot EAP, PointCloud2 data appears to be publishing fine. I think its good for merge.