Unitree Go2. Use low and high-lvls at the same time

[MusubaPy]

Good day, development team,

I have a Unitree Go2 EDU. I would like to perform low-level control of the robot while using some high-level features such as localization. Is this functionality already available in unitree_sdk2?

It is quite frustrating that I cannot fully use the lidars (XT16 and L1) when sport_mode is disabled.

It seems that when sport_mode is active, commands are published to the /lowcmd topic, which directs commands to the robot's motors. Perhaps one of the simplest solutions would be to mute the publication of sport_mode to this topic to retain all other functionality?