Explore usage with Gait / Locomotion projects (pybind? or a UDP proxy?)

[MAVProxyUser]

We need to see what enables these projects to function:
https://github.com/Improbable-AI/walk-these-ways

Many things rely on ros2_udp.cpp
https://github.com/unitreerobotics/unitree_ros2_to_real/blob/main/src/ros2_udp.cpp
and ros_udp.cpp
https://github.com/unitreerobotics/unitree_ros_to_real/blob/master/unitree_legged_real/src/exe/ros_udp.cpp

twist_sub.cpp is another example that many things build off of.
https://github.com/unitreerobotics/unitree_ros_to_real/blob/master/unitree_legged_real/src/exe/twist_sub.cpp

Katie Hughes examples for example are an extension of the above examples:
https://github.com/katie-hughes/unitree_ros2/blob/main/unitree_legged_real/src/udp_low.cpp

her joint state publisher being another example
https://github.com/katie-hughes/unitree_ros2/blob/main/unitree_legged_real/src/jsp_low.cpp

Is there possibly a way to make a bridge so we don't have to rewrite every bit of code? I've not had a chance to think further on this. Can we make a wrapper with the function interfaces, and use a Python-C API of some sort? CPython? pybind11 maybe?

[Bin4ry]

i think it can be done with fairly low effort. I tried to stick as close as possible to the original sdk, so the whole ros projects shall be very easy to adapt