This is a ROS 2 package that provides custom ROS 2 controllers that can be used with spot_ros2_control.
Currently, this package consists of a single generic controller: spot_controllers/ForwardStateController. This controller allows you to forward a set of commands over a set of interfaces. It is used with spot_ros2_control to forwad commands for position, velocity, and effort for all joints at the same time.
Example configurations for setting up this controller can be found in spot_ros2_control/config.