Manage leasing resources properly

[mhidalgo-bdai]

This patch changes ensures SpotWrapper properly releases all resources associated to leasing (including keepalives). It also extends leasing APIs so that downstream code needs not tinker with SpotWrapper internals.

[jbarry-bdai]

Thanks for looking into this!

We should do some on-robot testing:

• Start driver and confirm lease is not taken on driver start
• Move the robot using the driver and ensure lease is taken and robot moves
• Hijack the robot with the tablet and ensure the robot can be driven around without the driver trying to take the lease back
• Move the robot using the driver and ensure the lease is taken again (even though a keepalive exists)

[khughes-bdai]

Will work on testing those cases today @jbarry-bdai

[tcappellari-bdai]

whoops misread the above - ignore me

[khughes-bdai]

On-robot testing with this seemed successful. I tried running example_walk_forward, example_walk_with_velocity, and example_ik_solutions in spot_utilities/examples. One thing to note was that there were occasionally some spew error messages from the spot driver about the lease when I ran example_walk_with_velocity as well as ros2 run spot_utilities spot_teleop.py Kepler:

[spot_ros2-1] [wrapper.py:1062] Unable to execute robot command: bosdyn.api.RobotCommandResponse (LeaseUseError): 

Is there a way we can reduce the spew of these messages?

I also tried taking control with the tablet while a longer example was actively running (example_ik_requests). In this case the example kept re-taking control from the tablet -- this is the desired behavior, right?

[amessing-bdai]

@khughes-bdai
Unable to execute robot command: bosdyn.api.RobotCommandResponse (LeaseUseError): implies there is an error unless that was still the case before this PR? If that existed before then a ticket needs to be created.

misread

[khughes-bdai]

@amessing-bdai those errors existed before this, will make a ticket. Sorry for the confusion.

[khughes-bdai]

LGTM