Access Camera and LIDARs data

[alaurachagas]

Hi! Does anyone know if there is a way to access Spot's LIDAR sensor data using ROS2? Or the camera info?
I could not find info on it.

[khughes-bdai]

Camera topics are published by default when launching the spot driver, under the topic camera/<camera location>. There are sub topics under this that include the image, the depth map, and the camera info. The driver can also publish point clouds from the onboard spot cameras if you add the arg publish_point_clouds:=True when launching it. This repo doesn't have any native integration with other lidar payloads like Velodyne.