Investigate BDAII ROS2 driver

[dcolli23]

Description

BDAII has been actively developing a ROS2 driver for Spot for a while now. When first investigating this in early 2023, the driver wasn't in a state that we could use. Now that the lab has begun the switch to ROS2 and the driver is far more developed, we should heavily consider using this.

Tasks

• Investigate the ROS2 driver
  • Is there any core functionality missing?
    • Ensure that arm control is fully implemented.
• Plan out how the driver would be used.
  • Would we run the driver on the laptop? On the core?
  • Would we continue development with the Python routines?
    • It's likely that the data collection routines should stay in Python given ROS2 bandwidth complaints.
    • If we do continue Python routine development, would we need interface shims for the actual sending/receiving of messages?
      • This could be a lot of work and confusing to people onboarding in the future.
    • Instead, it might be more reasonable to build strong walls between what works with ROS and what works with the Python API directly.