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Ran 19 Mar 2025 05:51PM UTC

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Committed 19 Mar 2025 05:36PM UTC coverage: 69.449%. Remained the same

Job # 13953064393.2

Build Type

push

github

Committed by

web-flow

Commit Message

[SW-2237] broadcaster for foot states (#628)

## Change Overview

Adds a new broadcaster `FootStateBroadcaster` that publishes foot contact data on a topic, and integrates this with the spot ros2 control launch. Also includes a few bug fixes in the hardware interface to fix the sensor state interface setup. 

## Testing Done

- [x] Tested on robot. When the robot is standing feet contacts correspond to `CONTACT_MADE`. When the robot is on its back with its feet off the floor contacts correspond to `CONTACT_LOST`.

Run Details

1173 of 1689 relevant lines covered (69.45%)

62.26 hits per line

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bdaiinstitute / spot_ros2 / 13953064393 / 2 52% main: 52%

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main: 52%

README BADGES
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