diff --git a/spot_driver/package.xml b/spot_driver/package.xml
index 859d5c716..f642052a0 100644
--- a/spot_driver/package.xml
+++ b/spot_driver/package.xml
@@ -32,7 +32,7 @@
tf2_ros
tl_expected
- bdai_ros2_wrappers
+ synchros2
python3-protobuf
python3-tk
robot_state_publisher
diff --git a/spot_driver/spot_driver/calibrated_reregistered_hand_camera_depth_publisher.py b/spot_driver/spot_driver/calibrated_reregistered_hand_camera_depth_publisher.py
index ddbcbd9b2..5ea6e698d 100644
--- a/spot_driver/spot_driver/calibrated_reregistered_hand_camera_depth_publisher.py
+++ b/spot_driver/spot_driver/calibrated_reregistered_hand_camera_depth_publisher.py
@@ -18,15 +18,15 @@
import argparse
from typing import Optional
-import bdai_ros2_wrappers.process as ros_process
-import bdai_ros2_wrappers.scope as ros_scope
import cv2
import numpy as np
import open3d as o3d
+import synchros2.process as ros_process
+import synchros2.scope as ros_scope
import yaml
-from bdai_ros2_wrappers.context import wait_for_shutdown
from cv_bridge import CvBridge
from sensor_msgs.msg import Image
+from synchros2.context import wait_for_shutdown
class CalibratedReRegisteredHandCameraDepthPublisher:
diff --git a/spot_driver/spot_driver/spot_alerts.py b/spot_driver/spot_driver/spot_alerts.py
index 2e46fec78..faec02a78 100755
--- a/spot_driver/spot_driver/spot_alerts.py
+++ b/spot_driver/spot_driver/spot_alerts.py
@@ -2,10 +2,10 @@
from tkinter import messagebox
from typing import Any, List, Optional
-import bdai_ros2_wrappers.process as ros_process
-from bdai_ros2_wrappers.node import Node
+import synchros2.process as ros_process
from rclpy.parameter import Parameter
from rclpy.qos import QoSPresetProfiles
+from synchros2.node import Node
from spot_msgs.msg import ( # type: ignore
BatteryStateArray,
diff --git a/spot_driver/spot_driver/spot_ros2.py b/spot_driver/spot_driver/spot_ros2.py
index 2c95747bc..625e8bee0 100644
--- a/spot_driver/spot_driver/spot_ros2.py
+++ b/spot_driver/spot_driver/spot_ros2.py
@@ -12,19 +12,12 @@
from enum import Enum
from typing import Any, Callable, Dict, List, Optional, Union
-import bdai_ros2_wrappers.process as ros_process
import builtin_interfaces.msg
import rclpy
import rclpy.duration
import rclpy.time
+import synchros2.process as ros_process
import tf2_ros
-from bdai_ros2_wrappers.node import Node
-from bdai_ros2_wrappers.single_goal_action_server import (
- SingleGoalActionServer,
-)
-from bdai_ros2_wrappers.single_goal_multiple_action_servers import (
- SingleGoalMultipleActionServers,
-)
from bosdyn.api import (
geometry_pb2,
gripper_camera_param_pb2,
@@ -69,6 +62,9 @@
from rclpy.timer import Rate
from sensor_msgs.msg import JointState
from std_srvs.srv import SetBool, Trigger
+from synchros2.node import Node
+from synchros2.single_goal_action_server import SingleGoalActionServer
+from synchros2.single_goal_multiple_action_servers import SingleGoalMultipleActionServers
import spot_driver.robot_command_util as robot_command_util
diff --git a/spot_driver/test/pytests/conftest.py b/spot_driver/test/pytests/conftest.py
index 162f12b95..95393029d 100644
--- a/spot_driver/test/pytests/conftest.py
+++ b/spot_driver/test/pytests/conftest.py
@@ -19,7 +19,6 @@
import tempfile
import typing
-import bdai_ros2_wrappers.scope as ros_scope
import domain_coordinator
import grpc
import launch
@@ -31,11 +30,12 @@
import launch_ros.substitutions
import pytest
import rclpy
+import synchros2.scope as ros_scope
import yaml
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.power_pb2 import PowerCommandRequest, PowerCommandResponse, PowerCommandStatus
from bosdyn.api.robot_command_pb2 import RobotCommandResponse
from bosdyn.api.robot_state_pb2 import PowerState
+from synchros2.scope import ROSAwareScope
import spot_wrapper.testing
from spot_driver.spot_ros2 import SpotROS
diff --git a/spot_driver/test/pytests/test_clear_behavior_fault.py b/spot_driver/test/pytests/test_clear_behavior_fault.py
index 2b4c3a91b..55e1f4c4f 100644
--- a/spot_driver/test/pytests/test_clear_behavior_fault.py
+++ b/spot_driver/test/pytests/test_clear_behavior_fault.py
@@ -9,10 +9,10 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.robot_command_pb2 import ClearBehaviorFaultResponse
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import ClearBehaviorFault # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_dock.py b/spot_driver/test/pytests/test_dock.py
index 0ad9eeb7d..7c9582628 100644
--- a/spot_driver/test/pytests/test_dock.py
+++ b/spot_driver/test/pytests/test_dock.py
@@ -9,11 +9,11 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.basic_command_pb2 import RobotCommandFeedbackStatus, StandCommand
from bosdyn.api.docking.docking_pb2 import DockingCommandFeedbackResponse, DockingCommandResponse
from bosdyn.api.robot_command_pb2 import RobotCommandFeedbackResponse, RobotCommandResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import Dock # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_execute_dance.py b/spot_driver/test/pytests/test_execute_dance.py
index 91fa8662c..cf62c182d 100644
--- a/spot_driver/test/pytests/test_execute_dance.py
+++ b/spot_driver/test/pytests/test_execute_dance.py
@@ -9,8 +9,6 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.spot.choreography_sequence_pb2 import (
ChoreographySequence,
ChoreographyStatusResponse,
@@ -20,6 +18,8 @@
from google.protobuf import text_format
from rclpy.action import ActionClient
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.action import ExecuteDance # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_get_choreography_status.py b/spot_driver/test/pytests/test_get_choreography_status.py
index b0a39bdec..e24782bbd 100644
--- a/spot_driver/test/pytests/test_get_choreography_status.py
+++ b/spot_driver/test/pytests/test_get_choreography_status.py
@@ -9,9 +9,9 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.spot.choreography_sequence_pb2 import ChoreographyStatusResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import GetChoreographyStatus # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_list_all_dances.py b/spot_driver/test/pytests/test_list_all_dances.py
index e3fb4e7cc..982bf1a5d 100644
--- a/spot_driver/test/pytests/test_list_all_dances.py
+++ b/spot_driver/test/pytests/test_list_all_dances.py
@@ -9,9 +9,9 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.spot.choreography_sequence_pb2 import ListAllSequencesResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import ListAllDances # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_list_all_moves.py b/spot_driver/test/pytests/test_list_all_moves.py
index 5f8ccce02..a0a70e146 100644
--- a/spot_driver/test/pytests/test_list_all_moves.py
+++ b/spot_driver/test/pytests/test_list_all_moves.py
@@ -9,9 +9,9 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.spot.choreography_sequence_pb2 import ListAllMovesResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import ListAllMoves # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_locomotion_mode.py b/spot_driver/test/pytests/test_locomotion_mode.py
index 065f887ed..4124a21b3 100644
--- a/spot_driver/test/pytests/test_locomotion_mode.py
+++ b/spot_driver/test/pytests/test_locomotion_mode.py
@@ -9,8 +9,8 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import SetLocomotion # type: ignore
diff --git a/spot_driver/test/pytests/test_max_velocity.py b/spot_driver/test/pytests/test_max_velocity.py
index 0e5b49c05..f752a6d8e 100644
--- a/spot_driver/test/pytests/test_max_velocity.py
+++ b/spot_driver/test/pytests/test_max_velocity.py
@@ -9,8 +9,8 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import SetVelocity # type: ignore
diff --git a/spot_driver/test/pytests/test_power_off.py b/spot_driver/test/pytests/test_power_off.py
index 2d7114156..3dcb08904 100644
--- a/spot_driver/test/pytests/test_power_off.py
+++ b/spot_driver/test/pytests/test_power_off.py
@@ -9,10 +9,10 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.robot_command_pb2 import RobotCommandResponse
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_recorded_state_to_animation.py b/spot_driver/test/pytests/test_recorded_state_to_animation.py
index b4f2523bf..b0e4a7bd3 100644
--- a/spot_driver/test/pytests/test_recorded_state_to_animation.py
+++ b/spot_driver/test/pytests/test_recorded_state_to_animation.py
@@ -9,8 +9,6 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.data_chunk_pb2 import DataChunk
from bosdyn.api.geometry_pb2 import Quaternion, SE3Pose, Vec3
from bosdyn.api.header_pb2 import CommonError, ResponseHeader
@@ -25,6 +23,8 @@
)
from google.protobuf.timestamp_pb2 import Timestamp
from google.protobuf.wrappers_pb2 import DoubleValue
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import ChoreographyRecordedStateToAnimation # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_release.py b/spot_driver/test/pytests/test_release.py
index f4bc00dd6..77cd52179 100644
--- a/spot_driver/test/pytests/test_release.py
+++ b/spot_driver/test/pytests/test_release.py
@@ -9,9 +9,9 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
@pytest.mark.usefixtures("spot_node", "simple_spot")
diff --git a/spot_driver/test/pytests/test_robot_command.py b/spot_driver/test/pytests/test_robot_command.py
index 4a1fbb3f2..33099aa39 100644
--- a/spot_driver/test/pytests/test_robot_command.py
+++ b/spot_driver/test/pytests/test_robot_command.py
@@ -9,14 +9,14 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.basic_command_pb2 import RobotCommandFeedbackStatus, StopCommand
from bosdyn.api.full_body_command_pb2 import FullBodyCommand
from bosdyn.api.robot_command_pb2 import RobotCommandFeedback, RobotCommandFeedbackResponse, RobotCommandResponse
from bosdyn.client.robot_command import RobotCommandBuilder
from bosdyn_msgs.conversions import convert
from rclpy.action import ActionClient
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.action import RobotCommand as RobotCommandAction # type: ignore
from spot_msgs.srv import RobotCommand as RobotCommandService # type: ignore
diff --git a/spot_driver/test/pytests/test_robot_state.py b/spot_driver/test/pytests/test_robot_state.py
index 6aaf58f5e..76e4ad3f5 100644
--- a/spot_driver/test/pytests/test_robot_state.py
+++ b/spot_driver/test/pytests/test_robot_state.py
@@ -3,11 +3,11 @@
import typing
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
-from bdai_ros2_wrappers.subscription import Subscription
-from bdai_ros2_wrappers.utilities import namespace_with
from sensor_msgs.msg import JointState
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
+from synchros2.subscription import Subscription
+from synchros2.utilities import namespace_with
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_rollover.py b/spot_driver/test/pytests/test_rollover.py
index b0f2055c1..f06a5a89c 100644
--- a/spot_driver/test/pytests/test_rollover.py
+++ b/spot_driver/test/pytests/test_rollover.py
@@ -9,10 +9,10 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.robot_command_pb2 import RobotCommandResponse
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_ros_interfaces.py b/spot_driver/test/pytests/test_ros_interfaces.py
index 3414dbaa2..ba7185c53 100644
--- a/spot_driver/test/pytests/test_ros_interfaces.py
+++ b/spot_driver/test/pytests/test_ros_interfaces.py
@@ -3,8 +3,8 @@
import contextlib
import unittest
-import bdai_ros2_wrappers.scope as ros_scope
import rclpy
+import synchros2.scope as ros_scope
from bosdyn_msgs.msg import RobotCommand, RobotCommandFeedback
from std_srvs.srv import Trigger
diff --git a/spot_driver/test/pytests/test_self_right.py b/spot_driver/test/pytests/test_self_right.py
index 7d5f7b6b0..673acb41a 100644
--- a/spot_driver/test/pytests/test_self_right.py
+++ b/spot_driver/test/pytests/test_self_right.py
@@ -9,10 +9,10 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.robot_command_pb2 import RobotCommandResponse
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_sit.py b/spot_driver/test/pytests/test_sit.py
index 617837246..cdb5cd182 100644
--- a/spot_driver/test/pytests/test_sit.py
+++ b/spot_driver/test/pytests/test_sit.py
@@ -9,10 +9,10 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.robot_command_pb2 import RobotCommandResponse
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_stair_mode.py b/spot_driver/test/pytests/test_stair_mode.py
index 7f9c3f9b4..f6e40ffb4 100644
--- a/spot_driver/test/pytests/test_stair_mode.py
+++ b/spot_driver/test/pytests/test_stair_mode.py
@@ -9,9 +9,9 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from std_srvs.srv import SetBool
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
@pytest.mark.usefixtures("spot_node")
diff --git a/spot_driver/test/pytests/test_stand.py b/spot_driver/test/pytests/test_stand.py
index cd3ae57b8..707246a95 100644
--- a/spot_driver/test/pytests/test_stand.py
+++ b/spot_driver/test/pytests/test_stand.py
@@ -9,10 +9,10 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.robot_command_pb2 import RobotCommandResponse
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_start_recording_state.py b/spot_driver/test/pytests/test_start_recording_state.py
index 4f40bfe2b..3429f2599 100644
--- a/spot_driver/test/pytests/test_start_recording_state.py
+++ b/spot_driver/test/pytests/test_start_recording_state.py
@@ -9,9 +9,9 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.spot.choreography_sequence_pb2 import StartRecordingStateResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import ChoreographyStartRecordingState # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_stop.py b/spot_driver/test/pytests/test_stop.py
index ae539c2a1..6f70a4fd9 100644
--- a/spot_driver/test/pytests/test_stop.py
+++ b/spot_driver/test/pytests/test_stop.py
@@ -9,10 +9,10 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.robot_command_pb2 import RobotCommandResponse
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_stop_recording_state.py b/spot_driver/test/pytests/test_stop_recording_state.py
index 6a73e1739..a72264cc1 100644
--- a/spot_driver/test/pytests/test_stop_recording_state.py
+++ b/spot_driver/test/pytests/test_stop_recording_state.py
@@ -9,9 +9,9 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.spot.choreography_sequence_pb2 import StopRecordingStateResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import ChoreographyStopRecordingState # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_undock.py b/spot_driver/test/pytests/test_undock.py
index 0254ee1d8..2200d72b7 100644
--- a/spot_driver/test/pytests/test_undock.py
+++ b/spot_driver/test/pytests/test_undock.py
@@ -9,10 +9,10 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.docking.docking_pb2 import DockingCommandFeedbackResponse, DockingCommandResponse
from std_srvs.srv import Trigger
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_upload_animation.py b/spot_driver/test/pytests/test_upload_animation.py
index 84be473df..22e1d7334 100644
--- a/spot_driver/test/pytests/test_upload_animation.py
+++ b/spot_driver/test/pytests/test_upload_animation.py
@@ -9,9 +9,9 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.spot.choreography_sequence_pb2 import Animation, UploadAnimatedMoveResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import UploadAnimation # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_driver/test/pytests/test_upload_sequence.py b/spot_driver/test/pytests/test_upload_sequence.py
index 7ce679a62..b203d2fbf 100644
--- a/spot_driver/test/pytests/test_upload_sequence.py
+++ b/spot_driver/test/pytests/test_upload_sequence.py
@@ -9,9 +9,9 @@
# pylint: disable=no-member
import pytest
-from bdai_ros2_wrappers.futures import wait_for_future
-from bdai_ros2_wrappers.scope import ROSAwareScope
from bosdyn.api.spot.choreography_sequence_pb2 import ChoreographySequence, UploadChoreographyResponse
+from synchros2.futures import wait_for_future
+from synchros2.scope import ROSAwareScope
from spot_msgs.srv import UploadSequence # type: ignore
from spot_wrapper.testing.fixtures import SpotFixture
diff --git a/spot_examples/spot_examples/arm_simple.py b/spot_examples/spot_examples/arm_simple.py
index 6b19b7bba..4a3129069 100644
--- a/spot_examples/spot_examples/arm_simple.py
+++ b/spot_examples/spot_examples/arm_simple.py
@@ -1,16 +1,16 @@
import argparse
from typing import Optional
-import bdai_ros2_wrappers.process as ros_process
-import bdai_ros2_wrappers.scope as ros_scope
-from bdai_ros2_wrappers.action_client import ActionClientWrapper
-from bdai_ros2_wrappers.tf_listener_wrapper import TFListenerWrapper
-from bdai_ros2_wrappers.utilities import namespace_with
+import synchros2.process as ros_process
+import synchros2.scope as ros_scope
from bosdyn.api import geometry_pb2
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 synchros2.action_client import ActionClientWrapper
+from synchros2.tf_listener_wrapper import TFListenerWrapper
+from synchros2.utilities import namespace_with
from spot_msgs.action import RobotCommand # type: ignore
diff --git a/spot_examples/spot_examples/batch_trajectory.py b/spot_examples/spot_examples/batch_trajectory.py
index 9a4b89c62..f9adccb84 100644
--- a/spot_examples/spot_examples/batch_trajectory.py
+++ b/spot_examples/spot_examples/batch_trajectory.py
@@ -46,11 +46,8 @@
import time
from typing import Callable, Optional, Tuple
-import bdai_ros2_wrappers.process as ros_process
-import bdai_ros2_wrappers.scope as ros_scope
-from bdai_ros2_wrappers.action_client import ActionClientWrapper
-from bdai_ros2_wrappers.tf_listener_wrapper import TFListenerWrapper
-from bdai_ros2_wrappers.utilities import namespace_with
+import synchros2.process as ros_process
+import synchros2.scope as ros_scope
from bosdyn.api import (
arm_command_pb2,
basic_command_pb2,
@@ -73,6 +70,9 @@
from bosdyn_msgs.conversions import convert
from google.protobuf.wrappers_pb2 import DoubleValue
from rclpy.node import Node
+from synchros2.action_client import ActionClientWrapper
+from synchros2.tf_listener_wrapper import TFListenerWrapper
+from synchros2.utilities import namespace_with
from tf2_ros import TransformStamped
from spot_examples.simple_spot_commander import SimpleSpotCommander
diff --git a/spot_examples/spot_examples/send_inverse_kinematics_requests.py b/spot_examples/spot_examples/send_inverse_kinematics_requests.py
index f81332de2..8a8f02fb8 100644
--- a/spot_examples/spot_examples/send_inverse_kinematics_requests.py
+++ b/spot_examples/spot_examples/send_inverse_kinematics_requests.py
@@ -19,13 +19,10 @@
import argparse
from typing import List
-import bdai_ros2_wrappers.process as ros_process
-import bdai_ros2_wrappers.scope as ros_scope
import geometry_msgs.msg
import numpy as np
-from bdai_ros2_wrappers.action_client import ActionClientWrapper
-from bdai_ros2_wrappers.tf_listener_wrapper import TFListenerWrapper
-from bdai_ros2_wrappers.utilities import namespace_with
+import synchros2.process as ros_process
+import synchros2.scope as ros_scope
from bosdyn.api.spot import inverse_kinematics_pb2, robot_command_pb2
from bosdyn.client.frame_helpers import (
BODY_FRAME_NAME,
@@ -38,6 +35,9 @@
from bosdyn.client.robot_command import RobotCommandBuilder
from bosdyn_msgs.conversions import convert
from rclpy.node import Node
+from synchros2.action_client import ActionClientWrapper
+from synchros2.tf_listener_wrapper import TFListenerWrapper
+from synchros2.utilities import namespace_with
from tf2_ros import TransformBroadcaster, TransformStamped
from spot_msgs.action import RobotCommand # type: ignore
diff --git a/spot_examples/spot_examples/simple_spot_commander.py b/spot_examples/spot_examples/simple_spot_commander.py
index d4ae7c80b..e8f85bc71 100644
--- a/spot_examples/spot_examples/simple_spot_commander.py
+++ b/spot_examples/spot_examples/simple_spot_commander.py
@@ -4,13 +4,13 @@
import logging
from typing import Any, Dict, Optional
-import bdai_ros2_wrappers.process as ros_process
-import bdai_ros2_wrappers.scope as ros_scope
import rclpy
-from bdai_ros2_wrappers.utilities import fqn, namespace_with
+import synchros2.process as ros_process
+import synchros2.scope as ros_scope
from rclpy.client import Client
from rclpy.node import Node
from std_srvs.srv import Trigger
+from synchros2.utilities import fqn, namespace_with
TRIGGER_SERVICES = [
"claim",
diff --git a/spot_examples/spot_examples/walk_forward.py b/spot_examples/spot_examples/walk_forward.py
index d1a6b618a..c6c562c98 100644
--- a/spot_examples/spot_examples/walk_forward.py
+++ b/spot_examples/spot_examples/walk_forward.py
@@ -2,16 +2,16 @@
import logging
from typing import Optional
-import bdai_ros2_wrappers.process as ros_process
-import bdai_ros2_wrappers.scope as ros_scope
-from bdai_ros2_wrappers.action_client import ActionClientWrapper
-from bdai_ros2_wrappers.tf_listener_wrapper import TFListenerWrapper
-from bdai_ros2_wrappers.utilities import fqn, namespace_with
+import synchros2.process as ros_process
+import synchros2.scope as ros_scope
from bosdyn.client.frame_helpers import BODY_FRAME_NAME, VISION_FRAME_NAME
from bosdyn.client.math_helpers import Quat, SE2Pose, SE3Pose
from bosdyn.client.robot_command import RobotCommandBuilder
from bosdyn_msgs.conversions import convert
from rclpy.node import Node
+from synchros2.action_client import ActionClientWrapper
+from synchros2.tf_listener_wrapper import TFListenerWrapper
+from synchros2.utilities import fqn, namespace_with
from spot_msgs.action import RobotCommand # type: ignore