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Porting spotmicro to ros2#20

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mattwilliamson wants to merge 1 commit intochvmp:ros2from
mattwilliamson:ros2
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Porting spotmicro to ros2#20
mattwilliamson wants to merge 1 commit intochvmp:ros2from
mattwilliamson:ros2

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@mattwilliamson
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Did some work, copying mini pupper. Not tested on a real robot.

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