Add spot_wrapper.testing machinery

[mhidalgo-bdai]

This PR introduces pytest compatible machinery to aid in testing spot_wrapper, spot_ros2, and beyond.

[tervay-bdai]

LGTM. This is well written and I don't really see anything wrong with it. Only nit is that it'd be easier on reviewers to split up into multiple PRs next time due to length.

[mhidalgo-bdai]

Only nit is that it'd be easier on reviewers to split up into multiple PRs next time due to length.

Yeah. Sorry about that. It took a surprising amount of code just getting SpotWrapper not fail __init__.

[heuristicus]

Quick question about the copyright notices in some of the files. This repo is under the MIT license. Is there a need for the additional notices?

[mhidalgo-bdai]

I've found both in the wild (i.e. everything has a notice vs. only the root LICENSE does). I usually default to putting the copyright notice everywhere, for best granularity (specially when many organizations start contributing to the same codebase), but I'm no lawyer and I don't mind either way.

[baxelrod-bdai]

This repo is under the MIT license. Is there a need for the additional notices?

Good question. The LICENSE file indicates an MIT license and lists four entities:

MASKOR
Boston Dynamics AI Institute
Clearpath Robotics
Boston Dynamics

I am also not a lawyer. But this page has some good info. Based on what I read, I think the statement "All rights reserved" on each file is probably inappropriate in an MIT licensed project. But I like @mhidalgo-bdai's idea of finer granularity in a multi-organization project. (Although that will get muddied quickly as other organizations make modifications to existing files.)

So I think I'd recommend putting something like this in each file:

# Copyright (c) 2023 Boston Dynamics AI Institute LLC. See LICENSE file for more info.

Although the easiest thing for now is probably just to remove it. But let me ask around with more folks who may be more knowledgeable.

[mhidalgo-bdai]

I'm good with @baxelrod-bdai suggestion if you are @heuristicus @tervay-bdai.

[mhidalgo-bdai]

Done in 65c608a

[heuristicus]

Let's see what advice @baxelrod-bdai gets from more knowledgeable people, but looks good to me for now.