Fb set arm velocity

[MGBla]

Change Overview

Corresponding Driver calls to the PR on the wrapper Repo 104 to control the robot using a VelocityCommand interface. I decided to use a topic interface to control the arm since i want to have direct control over it instead of a longer running service call.
The angular and Cartesian velocity were thoroughly tested during operation on our spot. For the cylindrical velocity I performed some basic tests but didn't evaluate over hours as the other two input methods since I don't really use them in this reference frame.

Testing Done

- [x] tested that these new services work on robot

[tcappellari-bdai]

This would be better as a service call instead of a subscriber callback.
There are also some conversion methods we have already provided to convert between protobufs and ROS messages so you don't have to convert them manually.

[khughes-bdai]

You should be able to replace this with the following, using some built in proto to ros conversion:

Suggested change

	cylindrical_velocity = arm_command_pb2.ArmVelocityCommand.CylindricalVelocity()
	cylindrical_velocity.linear_velocity.r = arm_velocity_command.command.cylindrical_velocity.linear_velocity.r
	cylindrical_velocity.linear_velocity.theta = (
	arm_velocity_command.command.cylindrical_velocity.linear_velocity.theta
	)
	cylindrical_velocity.linear_velocity.z = arm_velocity_command.command.cylindrical_velocity.linear_velocity.z
	angular_velocity = geometry_pb2.Vec3(
	x=arm_velocity_command.angular_velocity_of_hand_rt_odom_in_hand.x,
	y=arm_velocity_command.angular_velocity_of_hand_rt_odom_in_hand.y,
	z=arm_velocity_command.angular_velocity_of_hand_rt_odom_in_hand.z,
	)
	cartesian_velocity = arm_command_pb2.ArmVelocityCommand.CartesianVelocity()
	cartesian_velocity.velocity_in_frame_name.x = (
	arm_velocity_command.command.cartesian_velocity.velocity_in_frame_name.x
	)
	cartesian_velocity.velocity_in_frame_name.y = (
	arm_velocity_command.command.cartesian_velocity.velocity_in_frame_name.y
	)
	cartesian_velocity.velocity_in_frame_name.z = (
	arm_velocity_command.command.cartesian_velocity.velocity_in_frame_name.z
	)
	cartesian_velocity.frame_name = arm_velocity_command.command.cartesian_velocity.frame_name
	proto_command = arm_command_pb2.ArmVelocityCommand.Request(
	cylindrical_velocity=cylindrical_velocity,
	angular_velocity_of_hand_rt_odom_in_hand=angular_velocity,
	cartesian_velocity=cartesian_velocity,
	)
	proto_command = arm_command_pb2.ArmVelocityCommand.Request()
	convert(arm_velocity_command, proto_command)

Can you verify that this still works with your example?

[MGBla]

Will test it later this afternoon on the robot :)

[khughes-bdai]

Hello, just wondering if you had a chance to test this out?

[MGBla]

Hey, sorry didn't had the time yet and our robot is not available for the next two weeks. I will test it then

[khughes-bdai]

Suggested change

	return self.spot_wrapper.spot_arm.handle_arm_velocity(proto_command)
	return self.spot_wrapper.spot_arm.handle_arm_velocity(proto_command, self.cmd_duration)

If we want this to mimic the cmd_vel topic, we can use the same duration field as it. This also makes it possible to change the rate from the ROS side of things.