Spot State Decoder Node in ROS2

How to run bag file

create a realiability_override.yaml file with following configuration

/odometry/filtered:
  reliability: best_effort
  history: keep_last
  depth: 1

Then create a rosbagPlayer.sh file with follwing command or use a terminal with following command

ros2 bag play --qos-profile-overrides-path reliability_override.yaml rosbag2_2024_03_07-17_12_09

Trajectory viewer

To see trajectory use the following command

ros2 run spot_state_decoder spot_state_decoder_node 

Configure RVIZ with follwoing settings