Expose lease release without EStop

[ggoretkin-bdai]

Change Overview

We would like to trigger a lease release, so that the tablet can then control the robot without needing to "hijack", but the existing "release" service also combines both the Lease and EStop release. This provides a service that leaves the EStop alone.

Testing Done

• power on Spot from the tablet
• start the driver
• ros2 service call /Spot/stand std_srvs/srv/Trigger
• observe the tablet no longer has control ("hijack" button appears)
• ros2 service call /Spot/lease/release std_srvs/srv/Trigger

the driver then crashes :( The robot goes to sit down, but stops midway and tablet control resumes

[spot_ros2-1] [INFO] [1711148477.849324824] [Nyla.spot_ros2]: Starting ROS driver for Spot for Nyla
[spot_ros2-1] [INFO] [1711148480.749066212] [Nyla.spot_ros2]: Found estop!
[spot_ros2-1] [INFO] [1711148480.954829316] [Nyla.spot_ros2]: Driver successfully started!

[spot_ros2-1] [INFO] [1711148509.073868606] [Nyla.spot_ros2]: Shutting down ROS driver for Spot
[spot_ros2-1] [wrapper.py:1037] Unable to execute robot command: No lease for resource "body"

[ggoretkin-bdai]

• Expose lease release without EStop #315 👈
• main

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