Integrate the frame_prefix argument and make robot_name optional (related to https://github.com/bdaiinstitute/spot_ros2/pull/506).

[Imaniac230]

This PR is related to the changes proposed in bdaiinstitute/spot_ros2#506.

• The new explicit frame_prefix parameter is exposed to the wrapper.
• The robot_name parameter is now actually optional.

[coveralls]

Pull Request Test Coverage Report for Build 13461765204

Details

• 1 of 1 (100.0%) changed or added relevant line in 1 file are covered.
• No unchanged relevant lines lost coverage.
• Overall coverage decreased (-0.03%) to 40.506%

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Totals
Change from base Build 13334890157:	-0.03%
Covered Lines:	1873
Relevant Lines:	4624

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💛 - Coveralls

[khughes-bdai]

I'm good with adding the frame prefix topic, but I'm worried about making the robot name optional as it changes the order of the arguments, and there's some code we have internally that would break with this. How necessary is this for the spot_ros2 PR?

[Imaniac230]

Shouldn't really be necessary at all. It was more of a unification thing, since I saw that it was already being handled and passed in as an optional:

spot_wrapper/spot_wrapper/wrapper.py

Lines 423 to 425 in d96cfb8

	self._frame_prefix = ""
	if robot_name is not None:
	self._frame_prefix = robot_name + "/"

https://github.com/bdaiinstitute/spot_ros2/blob/702c2fa967735f5cde9d7b16937aea0f408ecbbc/spot_driver/spot_driver/spot_ros2.py#L305-L307

https://github.com/bdaiinstitute/spot_ros2/blob/702c2fa967735f5cde9d7b16937aea0f408ecbbc/spot_driver/spot_driver/spot_ros2.py#L367

Only the prefix should be an actual optional, because an empty string prefix is still considered a valid option.

[Imaniac230]

Reverted the changes made to robot name in 64b9497.

[khughes-bdai]

ah yeah sorry I mispoke, the default value was the thing that would mess up the order of the arguments, not the fact that it was optional. it probably should be changed to an optional without a default value but it's not necessary to fix in this pr :)