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Ran 28 Mar 2024 08:14PM UTC

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Committed 28 Mar 2024 08:04PM UTC coverage: 30.757%. Remained the same

Job # 8473033540.11

Build Type

push

github

Committed by

web-flow

Commit Message

[SW-735] Update spot_ros2 for the new ArmImpedanceCommandStatus enum (#301)

## Change Overview

Per the [4.0.0 release notes](https://dev.bostondynamics.com/docs/release_notes) there is a new enum in `ArmImpedanceFeedbackStatus` called `STATUS_TRAJECTORY_CANCELLED` (view details with `ros2 interface show bosdyn_api_msgs/msg/ArmImpedanceCommandFeedbackStatus`). If we receive a feedback message from a robot command with this status in `spot_ros2`, this will indicate that the Goal Response has failed. 

## Testing Done

- [x] All `spot_examples` successful (`walk_forward`, `arm_simple`, `send_inverse_kinematics_requests`)
- [x] internal examples using arm impedance control still work (`example_impedance_control.py`)
- [x] Manually try setting status to `STATUS_TRAJECTORY_CANCELLED` within `spot_ros2.py` to force a cancellation, verify that it gets cancelled on same internal arm impedance control examples. 
- [x] new unit tests passed

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