Added timesync endpoint for the arm velocity control

[kabirkedia]

This PR addresses bdaiinstitute/spot_ros2#726.

Changes

Updated the arm velocity command callback to include proper timestamp handling.

Instead of restamping with time.time(), the ROS message’s header timestamp is now passed directly into the SDK.

Why this matters

Preserving the original ROS timestamp ensures that the commands reflect the actual time they were generated rather than the time they happened to be processed. This is especially important for teleop scenarios, where even small timing inconsistencies can affect responsiveness and control smoothness.

[coveralls]

Pull Request Test Coverage Report for Build 18354379025

Details

• 2 of 6 (33.33%) changed or added relevant lines in 2 files are covered.
• No unchanged relevant lines lost coverage.
• Overall coverage increased (+0.003%) to 44.317%

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Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
spot_wrapper/spot_arm.py	0	4	0.0%

Totals
Change from base Build 17986558028:	0.003%
Covered Lines:	2195
Relevant Lines:	4953

---

💛 - Coveralls

[kabirkedia]

Hey @khughes-bdai @tcappellari-bdai did you have a chance to check?

[khughes-bdai]

Hey @kabirkedia, we can give this a test/review later this week. Sorry been a bit busy!

[kabirkedia]

Okay thank you!

[khughes-bdai]

Hey @kabirkedia, so sorry for the delay in the review. First thing, there have been a few changes to spot_wrapper coming from #182 that I think are now causing merge conflicts with this PR. That PR switches to using BD's now_sec() instead of time.time() which for the purposes of this PR are equivalent.

My opinion on which way to proceed with this and bdaiinstitute/spot_ros2#734 would be to try the QOS change on the spot ros2 side, and on this side just pass the endpoint appropriately to the robot command. This to me seems like the simplest way to proceed. If this is not enough, then we can evaluate other options like explicitly passing timestamps.

Thanks again for all this work, I think it will be super useful to get in!

[kabirkedia]

Hey @khughes-bdai I think I made the correct merge. Please check and let me know!

[khughes-bdai]

Thanks @kabirkedia ! Looks like the pre-commit check is failing, could you please run pre-commit install and pre-commit run --all and re-push to your branch?
It also looks like one of the pytests is failing, I'll look into that. Seems related to the velocity cmd update which should have not been changed 🤔

[kabirkedia]

Hey @khughes-bdai I ran pre-commit on this
Let me know if this still works

[kabirkedia]

Let me know when you merge this since I need to resolve sub module conficts in the spot_ros2

[khughes-bdai]

Just needs a small change to pass CI! Other than that, looks good

[khughes-bdai]

I found the source of the CI error. Calling now_sec in the arg list like this is causing the failure. Can you replace this with

Suggested change

	timestamp: float = now_sec(),
	timestamp: float | None = None,

[kabirkedia]

@khughes-bdai done!

[khughes-bdai]

LGTM, thanks @kabirkedia ! I'll merge this in now