[EK-25] Use bosdyn_msgs bundles (bdaiinstitute#234)

Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com>

.devcontainer/Dockerfile

@@ -30,23 +30,24 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \
 RUN source "/opt/ros/${ROS_DISTRO}/setup.bash"
 
 # Install bosdyn_msgs package
-RUN curl -sL https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.3.2-AMD64/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb --output /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb --silent \
-  && dpkg -i /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb \
-  && rm /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb
+RUN curl -sL https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/4.0.0-2/ros-humble-bosdyn_msgs_4.0.0-2-jammy_amd64.run --output /tmp/ros-humble-bosdyn_msgs_4.0.0-2-jammy_amd64.run --silent \
+  && chmod +x /tmp/ros-humble-bosdyn_msgs_4.0.0-2-jammy_amd64.run \
+  && ((yes || true) | /tmp/ros-humble-bosdyn_msgs_4.0.0-2-jammy_amd64.run) \
+  && rm /tmp/ros-humble-bosdyn_msgs_4.0.0-2-jammy_amd64.run
 
 # Install spot_cpp_sdk package
-RUN curl -sL https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/3.3.2/spot-cpp-sdk_3.3.2_amd64.deb --output /tmp/spot-cpp-sdk_3.3.2_amd64.deb --silent \
-  && dpkg -i /tmp/spot-cpp-sdk_3.3.2_amd64.deb \
-  && rm /tmp/spot-cpp-sdk_3.3.2_amd64.deb
+RUN curl -sL https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/4.0.0/spot-cpp-sdk_4.0.0_amd64.deb --output /tmp/spot-cpp-sdk_4.0.0_amd64.deb --silent \
+  && dpkg -i /tmp/spot-cpp-sdk_4.0.0_amd64.deb \
+  && rm /tmp/spot-cpp-sdk_4.0.0_amd64.deb
 
 # Install bosdyn_msgs missing dependencies
 RUN python -m pip install --no-cache-dir --upgrade pip==22.3.1 \
     && pip install --root-user-action=ignore --no-cache-dir --default-timeout=900 \
     numpy==1.24.1 \
-    bosdyn-client==3.3.2 \
-    bosdyn-mission==3.3.2 \
-    bosdyn-api==3.3.2 \
-    bosdyn-core==3.3.2 \
+    bosdyn-client==4.0.0 \
+    bosdyn-mission==4.0.0 \
+    bosdyn-api==4.0.0 \
+    bosdyn-core==4.0.0 \
     pip cache purge
 
 # Install spot_wrapper requirements

README.md

@@ -19,7 +19,7 @@
 
 # Overview
 This is a ROS2 package for Boston Dynamics' Spot. The package contains all necessary topics, services and actions to teleoperate or navigate Spot.
-This package is derived from this [ROS1 package](https://github.com/heuristicus/spot_ros). This package currently corresponds to version 3.3.2 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v3.3.2).
+This package is derived from this [ROS1 package](https://github.com/heuristicus/spot_ros). This package currently corresponds to version 4.0.0 of the [spot-sdk](https://github.com/boston-dynamics/spot-sdk/releases/tag/v4.0.0).
 
 ## Prerequisites
 This package is tested for Ubuntu 22.04 and ROS 2 Humble, which can be installed following [this guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html). 

examples/inverse_kinematics_example/README.md

@@ -121,10 +121,10 @@ In ROS2, we convert the created protobuf ROS2 request and call a ROS2 service.
             ),
         )
         request = GetInverseKinematicSolutions.Request()
-        conv.convert_proto_to_bosdyn_msgs_inverse_kinematics_request(ik_request, request.request)
+        convert(ik_request, request.request)
         ik_reponse = self._ik_client.call(request)
 
         proto = inverse_kinematics_pb2.InverseKinematicsResponse()
-        conv.convert_bosdyn_msgs_inverse_kinematics_response_to_proto(ik_reponse.response, proto)
+        convert(ik_reponse.response, proto)
         return proto
 ```

examples/inverse_kinematics_example/inverse_kinematics_example/send_inverse_kinematics_requests.py

@@ -35,12 +35,12 @@
 )
 from bosdyn.client.math_helpers import Quat, SE3Pose
 from bosdyn.client.robot_command import RobotCommandBuilder
+from bosdyn_msgs.conversions import convert
 from rclpy.node import Node
 from tf2_ros import TransformBroadcaster
 from utilities.simple_spot_commander import SimpleSpotCommander
 from utilities.tf_listener_wrapper import TFListenerWrapper
 
-import spot_driver.conversions as conv
 from spot_msgs.action import RobotCommand  # type: ignore
 from spot_msgs.srv import GetInverseKinematicSolutions  # type: ignore
 
@@ -102,7 +102,7 @@ def _ready_arm(self) -> bool:
         """
         command = RobotCommandBuilder.arm_ready_command()
         action_goal = RobotCommand.Goal()
-        conv.convert_proto_to_bosdyn_msgs_robot_command(command, action_goal.command)
+        convert(command, action_goal.command)
         return self._robot_command_client.send_goal_and_wait("ready_arm", action_goal)
 
     def _arm_stow(self) -> bool:
@@ -111,7 +111,7 @@ def _arm_stow(self) -> bool:
         """
         command = RobotCommandBuilder.arm_stow_command()
         action_goal = RobotCommand.Goal()
-        conv.convert_proto_to_bosdyn_msgs_robot_command(command, action_goal.command)
+        convert(command, action_goal.command)
         return self._robot_command_client.send_goal_and_wait("arm_stow", action_goal)
 
     def _send_ik_request(
@@ -133,11 +133,11 @@ def _send_ik_request(
             ),
         )
         request = GetInverseKinematicSolutions.Request()
-        conv.convert_proto_to_bosdyn_msgs_inverse_kinematics_request(ik_request, request.request)
+        convert(ik_request, request.request)
         ik_reponse = self._ik_client.call(request)
 
         proto = inverse_kinematics_pb2.InverseKinematicsResponse()
-        conv.convert_bosdyn_msgs_inverse_kinematics_response_to_proto(ik_reponse.response, proto)
+        convert(ik_reponse.response, proto)
         return proto
 
     def test_run(self) -> bool:
@@ -275,7 +275,7 @@ def test_run(self) -> bool:
                 wr1_T_tool.to_proto()
             )
             arm_command_goal = RobotCommand.Goal()
-            conv.convert_proto_to_bosdyn_msgs_robot_command(arm_command, arm_command_goal.command)
+            convert(arm_command, arm_command_goal.command)
             result = self._robot_command_client.send_goal_and_wait(
                 action_name="arm_move_one", goal=arm_command_goal, timeout_sec=5
             )

examples/simple_arm_motion/README.md

@@ -134,7 +134,7 @@ In ROS2, we convert the created protobuf to a ROS2 action goal and we use the ac
 ```python
     # Convert to a ROS message
     action_goal = RobotCommand.Goal()
-    conv.convert_proto_to_bosdyn_msgs_robot_command(command, action_goal.command)
+    convert(command, action_goal.command)
     # Send the request and wait until the arm arrives at the goal
     node.get_logger().info('Moving arm to position 1.')
     robot_command_client.send_goal_and_wait(action_goal)

examples/simple_arm_motion/simple_arm_motion/arm_simple.py

@@ -9,10 +9,10 @@
 from bosdyn.client import math_helpers
 from bosdyn.client.frame_helpers import GRAV_ALIGNED_BODY_FRAME_NAME, ODOM_FRAME_NAME
 from bosdyn.client.robot_command import RobotCommandBuilder
+from bosdyn_msgs.conversions import convert
 from utilities.simple_spot_commander import SimpleSpotCommander
 from utilities.tf_listener_wrapper import TFListenerWrapper
 
-import spot_driver.conversions as conv
 from spot_msgs.action import RobotCommand  # type: ignore
 
 
@@ -97,7 +97,7 @@ def hello_arm(robot_name: Optional[str] = None) -> bool:
 
     # Convert to a ROS message
     action_goal = RobotCommand.Goal()
-    conv.convert_proto_to_bosdyn_msgs_robot_command(command, action_goal.command)
+    convert(command, action_goal.command)
     # Send the request and wait until the arm arrives at the goal
     logger.info("Moving arm to position 1.")
     robot_command_client.send_goal_and_wait("arm_move_one", action_goal)
@@ -133,7 +133,7 @@ def hello_arm(robot_name: Optional[str] = None) -> bool:
 
     # Convert to a ROS message
     action_goal = RobotCommand.Goal()
-    conv.convert_proto_to_bosdyn_msgs_robot_command(command, action_goal.command)
+    convert(command, action_goal.command)
     # Send the request and wait until the arm arrives at the goal
     logger.info("Moving arm to position 2.")
     robot_command_client.send_goal_and_wait("arm_move_two", action_goal)

examples/simple_walk_forward/README.md

@@ -103,7 +103,7 @@ Now we construct a goal to send to the Spot driver:
             goal_x=world_t_goal.x, goal_y=world_t_goal.y, goal_heading=world_t_goal.angle,
             frame_name=VISION_FRAME_NAME)
         action_goal = RobotCommand.Goal()
-        conv.convert_proto_to_bosdyn_msgs_robot_command(proto_goal, action_goal.command)
+        convert(proto_goal, action_goal.command)
 ```
 This constructs a protobuf message using the BD built in tools and converts it into a ROS action goal of a type that can be sent by our action client.
 

examples/simple_walk_forward/simple_walk_forward/walk_forward.py

@@ -9,11 +9,11 @@
 from bosdyn.client.frame_helpers import BODY_FRAME_NAME, VISION_FRAME_NAME
 from bosdyn.client.math_helpers import SE2Pose
 from bosdyn.client.robot_command import RobotCommandBuilder
+from bosdyn_msgs.conversions import convert
 from rclpy.node import Node
 from utilities.simple_spot_commander import SimpleSpotCommander
 from utilities.tf_listener_wrapper import TFListenerWrapper
 
-import spot_driver.conversions as conv
 from spot_msgs.action import RobotCommand  # type: ignore
 
 # Where we want the robot to walk to relative to itself
@@ -74,7 +74,7 @@ def walk_forward_with_world_frame_goal(self) -> None:
             frame_name=VISION_FRAME_NAME,  # use Boston Dynamics' frame conventions
         )
         action_goal = RobotCommand.Goal()
-        conv.convert_proto_to_bosdyn_msgs_robot_command(proto_goal, action_goal.command)
+        convert(proto_goal, action_goal.command)
         self._robot_command_client.send_goal_and_wait("walk_forward", action_goal)
         self._logger.info("Successfully walked forward")
 

install_spot_ros2.sh

@@ -1,11 +1,13 @@
-ARM=false
+ARCH="amd64"
+SDK_VERSION="4.0.0"
+MSG_VERSION="${SDK_VERSION}-2"
 ROS_DISTRO=humble
 HELP=$'--arm64: Installs ARM64 version'
 REQUIREMENTS_FILE=spot_wrapper/requirements.txt
 
 while true; do
   case "$1" in
-    --arm64 ) ARM=true; shift ;;
+    --arm64 ) ARCH="arm64"; shift ;;
     -h | --help ) echo "$HELP"; exit 0;;
     -- ) shift; break ;;
     * ) break ;;
@@ -29,25 +31,13 @@ sudo apt-get install -y python3-distutils
 sudo apt-get install -y python3-apt
 sudo pip3 install --force-reinstall -v "setuptools==59.6.0"
 
+# Install bosdyn_msgs - automatic conversions of BD protobufs to ROS messages
+wget -q -O /tmp/ros-humble-bosdyn_msgs_${MSG_VERSION}-jammy_${ARCH}.run https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/${MSG_VERSION}/ros-humble-bosdyn_msgs_${MSG_VERSION}-jammy_${ARCH}.run
+chmod +x /tmp/ros-humble-bosdyn_msgs_${MSG_VERSION}-jammy_${ARCH}.run
+sudo /tmp/ros-humble-bosdyn_msgs_${MSG_VERSION}-jammy_${ARCH}.run
+rm /tmp/ros-humble-bosdyn_msgs_${MSG_VERSION}-jammy_${ARCH}.run
 
-if $ARM; then
-    # Install bosdyn_msgs - automatic conversions of BD protobufs to ROS messages
-    wget -q -O /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.3.2-ARM64/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb
-    sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb
-    rm /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_arm64.deb
-
-    # Install spot-cpp-sdk
-    wget -q -O /tmp/spot-cpp-sdk_3.3.2_arm64.deb https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/3.3.2/spot-cpp-sdk_3.3.2_arm64.deb
-    sudo dpkg -i /tmp/spot-cpp-sdk_3.3.2_arm64.deb
-    rm /tmp/spot-cpp-sdk_3.3.2_arm64.deb
-else
-    # Install bosdyn_msgs - automatic conversions of BD protobufs to ROS messages
-    wget -q -O /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb https://github.com/bdaiinstitute/bosdyn_msgs/releases/download/v3.3.2-AMD64/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb
-    sudo dpkg -i /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb
-    rm /tmp/ros-humble-bosdyn-msgs_3.3.2-0jammy_amd64.deb
-
-    # Install spot-cpp-sdk
-    wget -q -O /tmp/spot-cpp-sdk_3.3.2_amd64.deb https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/3.3.2/spot-cpp-sdk_3.3.2_amd64.deb
-    sudo dpkg -i /tmp/spot-cpp-sdk_3.3.2_amd64.deb
-    rm /tmp/spot-cpp-sdk_3.3.2_amd64.deb
-fi
+# Install spot-cpp-sdk
+wget -q -O /tmp/spot-cpp-sdk_${SDK_VERSION}_${ARCH}.deb https://github.com/bdaiinstitute/spot-cpp-sdk/releases/download/${SDK_VERSION}/spot-cpp-sdk_${SDK_VERSION}_${ARCH}.deb
+sudo dpkg -i /tmp/spot-cpp-sdk_${SDK_VERSION}_${ARCH}.deb
+rm /tmp/spot-cpp-sdk_${SDK_VERSION}_${ARCH}.deb

spot_driver/CMakeLists.txt

@@ -11,6 +11,8 @@ endif()
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 set(THIS_PACKAGE_INCLUDE_ROS_DEPENDS
+  bosdyn_api_msgs
+  bosdyn_spot_api_msgs
   cv_bridge
   geometry_msgs
   rclcpp

spot_driver/include/spot_driver/conversions/common_conversions.hpp

@@ -5,11 +5,10 @@
 #include <google/protobuf/timestamp.pb.h>
 #include <google/protobuf/wrappers.pb.h>
 
-#include <bosdyn_msgs/msg/arm_joint_position.hpp>
-#include <bosdyn_msgs/msg/common_error.hpp>
-#include <bosdyn_msgs/msg/quaternion.hpp>
-#include <bosdyn_msgs/msg/request_header.hpp>
-#include <bosdyn_msgs/msg/response_header.hpp>
+#include <bosdyn_api_msgs/msg/arm_joint_position.hpp>
+#include <bosdyn_api_msgs/msg/common_error.hpp>
+#include <bosdyn_api_msgs/msg/request_header.hpp>
+#include <bosdyn_api_msgs/msg/response_header.hpp>
 
 #include <bosdyn/api/arm_command.pb.h>
 #include <bosdyn/api/geometry.pb.h>
@@ -28,7 +27,7 @@ namespace spot_ros2 {
 
 void convertToProto(const builtin_interfaces::msg::Time& ros_msg, google::protobuf::Timestamp& proto);
 
-void convertToProto(const bosdyn_msgs::msg::RequestHeader& ros_msg, bosdyn::api::RequestHeader& proto);
+void convertToProto(const bosdyn_api_msgs::msg::RequestHeader& ros_msg, bosdyn::api::RequestHeader& proto);
 
 void convertToProto(const geometry_msgs::msg::Vector3& ros_msg, bosdyn::api::Vec3& proto);
 
@@ -40,16 +39,16 @@ void convertToProto(const geometry_msgs::msg::Pose& ros_msg, bosdyn::api::SE3Pos
 
 void convertToProto(const double& ros_msg, google::protobuf::DoubleValue& proto);
 
-void convertToProto(const bosdyn_msgs::msg::ArmJointPosition& ros_msg, bosdyn::api::ArmJointPosition& proto);
+void convertToProto(const bosdyn_api_msgs::msg::ArmJointPosition& ros_msg, bosdyn::api::ArmJointPosition& proto);
 
 ///////////////////////////////////////////////////////////////////////////////
 // Protobuf to ROS.
 
-void convertToRos(const bosdyn::api::RequestHeader& proto, bosdyn_msgs::msg::RequestHeader& ros_msg);
+void convertToRos(const bosdyn::api::RequestHeader& proto, bosdyn_api_msgs::msg::RequestHeader& ros_msg);
 
-void convertToRos(const bosdyn::api::CommonError& proto, bosdyn_msgs::msg::CommonError& ros_msg);
+void convertToRos(const bosdyn::api::CommonError& proto, bosdyn_api_msgs::msg::CommonError& ros_msg);
 
-void convertToRos(const bosdyn::api::ResponseHeader& proto, bosdyn_msgs::msg::ResponseHeader& ros_msg);
+void convertToRos(const bosdyn::api::ResponseHeader& proto, bosdyn_api_msgs::msg::ResponseHeader& ros_msg);
 
 void convertToRos(const google::protobuf::Timestamp& proto, builtin_interfaces::msg::Time& ros_msg);
 

spot_driver/include/spot_driver/conversions/kinematic_conversions.hpp

@@ -4,57 +4,57 @@
 
 #include <bosdyn/api/spot/inverse_kinematics.pb.h>
 
-#include <bosdyn_msgs/msg/inverse_kinematics_request.hpp>
-#include <bosdyn_msgs/msg/inverse_kinematics_response.hpp>
+#include <bosdyn_spot_api_msgs/msg/inverse_kinematics_request.hpp>
+#include <bosdyn_spot_api_msgs/msg/inverse_kinematics_response.hpp>
 
 namespace spot_ros2 {
 
 ///////////////////////////////////////////////////////////////////////////////
 // ROS to Protobuf.
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequestFixedStance& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequestFixedStance& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest::FixedStance& proto);
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequestOnGroundPlaneStance& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequestOnGroundPlaneStance& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest::OnGroundPlaneStance& proto);
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequestOneOfStanceSpecification& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequestOneOfStanceSpecification& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest& proto);
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequestWristMountedTool& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequestWristMountedTool& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest::WristMountedTool& proto);
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequestBodyMountedTool& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequestBodyMountedTool& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest::BodyMountedTool& proto);
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequestOneOfToolSpecification& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequestOneOfToolSpecification& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest& proto);
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequestToolPoseTask& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequestToolPoseTask& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest::ToolPoseTask& proto);
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequestToolGazeTask& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequestToolGazeTask& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest::ToolGazeTask& proto);
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequestOneOfTaskSpecification& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequestOneOfTaskSpecification& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest& proto);
 
-void convertToProto(const bosdyn_msgs::msg::InverseKinematicsRequest& ros_msg,
+void convertToProto(const bosdyn_spot_api_msgs::msg::InverseKinematicsRequest& ros_msg,
                     bosdyn::api::spot::InverseKinematicsRequest& proto);
 
 ///////////////////////////////////////////////////////////////////////////////
 // Protobuf to ROS.
 
-void convertToRos(const bosdyn::api::JointState& proto, bosdyn_msgs::msg::JointState& ros_msg);
+void convertToRos(const bosdyn::api::JointState& proto, bosdyn_api_msgs::msg::JointState& ros_msg);
 
 void convertToRos(const bosdyn::api::FrameTreeSnapshot::ParentEdge& proto,
-                  bosdyn_msgs::msg::FrameTreeSnapshotParentEdge& ros_msg);
+                  bosdyn_api_msgs::msg::FrameTreeSnapshotParentEdge& ros_msg);
 
-void convertToRos(const bosdyn::api::FrameTreeSnapshot& proto, bosdyn_msgs::msg::FrameTreeSnapshot& ros_msg);
+void convertToRos(const bosdyn::api::FrameTreeSnapshot& proto, bosdyn_api_msgs::msg::FrameTreeSnapshot& ros_msg);
 
-void convertToRos(const bosdyn::api::KinematicState& proto, bosdyn_msgs::msg::KinematicState& ros_msg);
+void convertToRos(const bosdyn::api::KinematicState& proto, bosdyn_api_msgs::msg::KinematicState& ros_msg);
 
 void convertToRos(const bosdyn::api::spot::InverseKinematicsResponse& proto,
-                  bosdyn_msgs::msg::InverseKinematicsResponse& ros_msg);
+                  bosdyn_spot_api_msgs::msg::InverseKinematicsResponse& ros_msg);
 
 }  // namespace spot_ros2

spot_driver/include/spot_driver/conversions/robot_state.hpp

@@ -3,7 +3,7 @@
 #pragma once
 
 #include <bosdyn/api/robot_state.pb.h>
-#include <bosdyn_msgs/msg/manipulator_state.hpp>
+#include <bosdyn_api_msgs/msg/manipulator_state.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/vector3_stamped.hpp>
 #include <map>
@@ -162,7 +162,7 @@ std::optional<spot_msgs::msg::SystemFaultState> getSystemFaultState(const ::bosd
  * @return If the robot state message contains data about Spot's manipulator state, return a ManipulatorState message
  * containing this data. Otherwise, return nullopt.
  */
-std::optional<bosdyn_msgs::msg::ManipulatorState> getManipulatorState(const ::bosdyn::api::RobotState& robot_state);
+std::optional<bosdyn_api_msgs::msg::ManipulatorState> getManipulatorState(const ::bosdyn::api::RobotState& robot_state);
 
 /**
  * @brief Create a Vector3Stamped ROS message representing the force exerted on Spot's end effector by parsing a