Dev

.github/workflows/ci.yml

@@ -37,12 +37,12 @@ jobs:
             cmake \
             git
           rosdep init || true
-          rosdep update
+          rosdep update || true
 
       - name: Workspace layout
         run: |
           mkdir -p ws/src
-          cp -r camera_ros lucy_bringup lucy_ros2_control ws/src/
+          cp -r camera_ros lucy_bringup lucy_ros2_control lucy_config_generator ws/src/
 
       # Do not `rm -rf /var/lib/apt/lists/*` before this: rosdep/apt need indexes for packages.ros.org.
       # Skip keys: not in this CI tree (thais_urdf), external/third-party (audio_common), or hardware agents not needed to compile/test.
@@ -61,7 +61,7 @@ jobs:
         run: |
           source /opt/ros/humble/setup.bash
           colcon build --symlink-install \
-            --packages-select camera_ros lucy_bringup lucy_ros2_control \
+            --packages-select camera_ros lucy_bringup lucy_ros2_control lucy_config_generator \
             --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON
 
       - name: colcon test
@@ -71,9 +71,9 @@ jobs:
           source /opt/ros/humble/setup.bash
           source install/setup.bash
           colcon test \
-            --packages-select camera_ros lucy_bringup lucy_ros2_control \
+            --packages-select camera_ros lucy_bringup lucy_ros2_control lucy_config_generator \
             --event-handlers console_direct+ \
-            --pytest-args "--tb=short -vv"
+            --pytest-args -vv --tb=short
 
       - name: colcon test-result
         working-directory: ws
@@ -106,11 +106,11 @@ jobs:
             --cov-report=html:build/coverage_reports/html_lucy_bringup \
             --cov-report=term-missing \
             --cov-branch
-          # lucy_ros2_control — YAML validation tests only (no C++ coverage here)
-          python3 -m pytest src/lucy_ros2_control/test/ \
-            --cov=src/lucy_ros2_control/test \
-            --cov-report=xml:build/coverage_reports/lucy_ros2_control.xml \
-            --cov-report=html:build/coverage_reports/html_lucy_ros2_control \
+          # lucy_config_generator — golden template tests
+          python3 -m pytest src/lucy_config_generator/test/ \
+            --cov=src/lucy_config_generator/lucy_config_generator \
+            --cov-report=xml:build/coverage_reports/lucy_config_generator.xml \
+            --cov-report=html:build/coverage_reports/html_lucy_config_generator \
             --cov-report=term-missing \
             --cov-branch
 
@@ -119,7 +119,7 @@ jobs:
         if: success()
         with:
           token: ${{ secrets.CODECOV_TOKEN }}
-          files: ws/build/coverage_reports/camera_ros.xml,ws/build/coverage_reports/lucy_bringup.xml,ws/build/coverage_reports/lucy_ros2_control.xml
+          files: ws/build/coverage_reports/camera_ros.xml,ws/build/coverage_reports/lucy_bringup.xml,ws/build/coverage_reports/lucy_config_generator.xml
           flags: lucy_ros_packages
           name: lucy_ros_packages
           fail_ci_if_error: false

README.md

@@ -6,15 +6,17 @@ ROS 2 **Humble** repository for **Lucy** (Sentience Robotics): runtime bringup,
 
 | Package | One-line role |
 |---------|----------------|
-| [**lucy_bringup**](lucy_bringup/) | Jetson-oriented **system launch**: micro-ROS agents, `rosbridge_server`, RealSense, `camera_ros`, delayed [`lucy_ros2_control`](lucy_ros2_control/) bringup. |
+| [**lucy_bringup**](lucy_bringup/) | Jetson **system launch**: micro-ROS agents, **`web_ros_api`** (rosbridge + **`lucy_config_pipeline`**), RealSense, `camera_ros`, delayed [`lucy_ros2_control`](lucy_ros2_control/) bringup; **`lucy_*_development`** composes the web stack with **`thais_urdf`** RViz/Gazebo. |
 | [**lucy_ros2_control**](lucy_ros2_control/) | **Hardware** `ros2_control` plugin (`LucySystemHardware`), controller YAML, `control.launch.py` for the real robot stack (no RViz/rosbridge in that launch). |
+| [**lucy_config_generator**](lucy_config_generator/) | **Config pipeline**: reads **`thais_urdf`** hardware YAML and emits RP2040 firmware C, `ros2_control` xacro, and `controllers.yaml` (see package README). |
+| [**lucy_config_pipeline**](lucy_config_pipeline/) | **Config store + `ConfigurePipeline` action**: validate YAML, generate artifacts, build/flash RP2040 firmware via `picotool` [README](lucy_config_pipeline/README.md). |
 | [**camera_ros**](camera_ros/) | GStreamer-based **MJPEG** → `sensor_msgs/CompressedImage`; client-aware activation. |
 
 Package names match directories (`<name>` in each `package.xml`).
 
 ## How this repo fits the platform
 
-- **Robot model, RViz, Gazebo, and “combo” launches** (real or sim + rosbridge) live in the sibling repo **[thais_urdf](https://github.com/Sentience-Robotics/thais_urdf)** (or your fork), package name `thais_urdf`. `lucy_ros2_control` expects URDF/xacro and meshes from that tree when using default paths.
+- **Robot model, RViz, and Gazebo** live in the sibling repo **[thais_urdf](https://github.com/Sentience-Robotics/thais_urdf)** (package name `thais_urdf`). **`lucy_bringup`** owns **rosbridge + hardware config** (**`web_ros_api.launch.py`**) and **`lucy.launch.py`** (composition via **`real`**, **`rviz`**, **`gazebo`**). `lucy_ros2_control` expects URDF/xacro and meshes from **`thais_urdf`** when using default paths.
 - **Web control panel** and teleop semantics are **not** in this repo; they consume the same topics/controllers documented in lucy_ws docs.
 
 ## Requirements
@@ -23,14 +25,18 @@ Package names match directories (`<name>` in each `package.xml`).
 - **ROS**: [ROS 2 Humble](https://docs.ros.org/en/humble/Installation.html).
 - **Per-package extras**: Jetson-typical USB video and audio stacks for bringup; RealSense SDK stack for `realsense2_camera`; serial devices for micro-ROS. See each package README and `lucy_bringup/REALSENSE.md`.
 
+## Picotool and passwordless sudo
+
+The **`lucy_config_pipeline`** flash phase runs **`sudo picotool`**. Copy-paste **sudoers** setup (Ubuntu 22.04) lives in **[lucy_config_pipeline/README.md — Passwordless sudo for picotool](lucy_config_pipeline/README.md#passwordless-sudo-for-picotool)** (same repository; no `../` path).
+
 ## Building (colcon workspace)
 
 Treat this repository as **`src/lucy_ros_packages`** (clone the contents into that folder) **or** clone in place so that packages are direct children of your workspace `src/`:
 
 ```text
 lucy_ws/
 └── src/
-    ├── lucy_ros_packages/    # this repo: lucy_bringup, lucy_ros2_control, camera_ros
+    ├── lucy_ros_packages/    # this repo: lucy_bringup, lucy_ros2_control, lucy_config_generator, lucy_config_pipeline, camera_ros
     └── thais_urdf/           # robot description + sim launches (separate repo)
 ```
 
@@ -40,15 +46,15 @@ Example build:
 source /opt/ros/humble/setup.bash
 cd lucy_ws
 colcon build --symlink-install \
-  --packages-select lucy_bringup lucy_ros2_control camera_ros
+  --packages-select lucy_bringup lucy_ros2_control lucy_config_generator lucy_config_pipeline camera_ros
 source install/setup.bash
 ```
 
 To include simulation/description from the other repo:
 
 ```bash
 colcon build --symlink-install \
-  --packages-select lucy_bringup lucy_ros2_control camera_ros thais_urdf
+  --packages-select lucy_bringup lucy_ros2_control lucy_config_generator lucy_config_pipeline camera_ros thais_urdf
 ```
 
 ## Quick start
@@ -70,11 +76,11 @@ From your **workspace root** (e.g. `lucy_ws`), with packages under `src/lucy_ros
 ```bash
 source /opt/ros/humble/setup.bash
 colcon build --symlink-install \
-  --packages-select camera_ros lucy_bringup lucy_ros2_control \
+  --packages-select camera_ros lucy_bringup lucy_ros2_control lucy_config_generator \
   --cmake-args -DBUILD_TESTING=ON
 source install/setup.bash
 
-colcon test --packages-select camera_ros lucy_bringup lucy_ros2_control --event-handlers console_direct+
+colcon test --packages-select camera_ros lucy_bringup lucy_ros2_control lucy_config_generator --event-handlers console_direct+
 colcon test-result --verbose
 ```
 
@@ -94,31 +100,28 @@ python3 -m pytest src/lucy_ros_packages/lucy_bringup/test/ \
   --cov-report=xml:build/coverage_reports/lucy_bringup.xml \
   --cov-report=html:build/coverage_html/lucy_bringup
 
-python3 -m pytest src/lucy_ros_packages/lucy_ros2_control/test/ \
-  --cov=src/lucy_ros_packages/lucy_ros2_control/test \
-  --cov-report=term-missing \
-  --cov-report=xml:build/coverage_reports/lucy_ros2_control.xml \
-  --cov-report=html:build/coverage_html/lucy_ros2_control
 ```
 
-**Meaningful line coverage** is mostly from **`camera_ros/scripts`**; bringup tests only **byte-compile** launch files, and `lucy_ros2_control` tests cover **YAML + Python helpers**, not the C++ hardware plugin.
+**Meaningful line coverage** is mostly from **`camera_ros/scripts`**; bringup tests only **byte-compile** launch files.
 
 ## CI
 
-GitHub Actions (`.github/workflows/ci.yml`) runs **`rosdep`**, **`colcon build`**, **`colcon test`**, then **`pytest-cov`** over all Python tests, producing Cobertura XML under `ws/build/coverage_reports/` for **`camera_ros`**, **`lucy_bringup`**, and **`lucy_ros2_control`**. Reports are uploaded to [**Codecov**](https://codecov.io) when **`CODECOV_TOKEN`** is set on the repo, and HTML/XML are attached as workflow artifacts (`coverage-lucy_ros_packages`). See [`doc/DEVELOPER.md`](doc/DEVELOPER.md) §5.
+GitHub Actions (`.github/workflows/ci.yml`) runs **`rosdep`**, **`colcon build`**, **`colcon test`**, then **`pytest-cov`** over Python tests, producing Cobertura XML under `ws/build/coverage_reports/` for **`camera_ros`**, **`lucy_bringup`**, and **`lucy_config_generator`**. Reports are uploaded to [**Codecov**](https://codecov.io) when **`CODECOV_TOKEN`** is set on the repo, and HTML/XML are attached as workflow artifacts (`coverage-lucy_ros_packages`). See [`docs/DEVELOPER.md`](docs/DEVELOPER.md) §5.
 
 ## Documentation map
 
 | Doc | Audience |
 |-----|----------|
 | This file | Anyone cloning **this** repository |
-| [**doc/DEVELOPER.md**](doc/DEVELOPER.md) | **Contributors** — build, CI, package internals, extension checklist |
+| [**docs/DEVELOPER.md**](docs/DEVELOPER.md) | **Contributors** — build, CI, package internals, extension checklist |
 | [lucy_bringup/README.md](lucy_bringup/README.md) | Operators and integrators (devices, tmux, launch args) |
 | [lucy_ros2_control/README.md](lucy_ros2_control/README.md) | Control stack quick start |
-| [**doc/ROS2_CONTROL.md**](doc/ROS2_CONTROL.md) | **ros2_control** — general concepts + Lucy (`LucySystemHardware`, topics, launches) |
+| [**docs/ROS2_CONTROL.md**](docs/ROS2_CONTROL.md) | **ros2_control** — general concepts + Lucy (`LucySystemHardware`, topics, launches) |
+| [**lucy_config_generator/README.md**](lucy_config_generator/README.md) | Hardware YAML → firmware C, `ros2_control` xacro, controllers |
+| [**lucy_config_pipeline/README.md**](lucy_config_pipeline/README.md) | Config services + pipeline action (build/flash); [passwordless sudo for picotool](lucy_config_pipeline/README.md#passwordless-sudo-for-picotool) |
 | [camera_ros/README.md](camera_ros/README.md) | Camera topics, parameters, troubleshooting |
 
-If these repos live under **`lucy_ws`**, see **`lucy_ws/docs/developer_lucy_packages.md`** (index into each repo’s `doc/DEVELOPER.md`) and **`lucy_ws/docs/simulation_and_visualization.md`** (full-stack pipeline).
+If these repos live under **`lucy_ws`**, see **`lucy_ws/docs/developer_lucy_packages.md`** (index into each repo’s `docs/DEVELOPER.md`) and **`lucy_ws/docs/simulation_and_visualization.md`** (full-stack pipeline).
 
 ## License
 

camera_ros/CMakeLists.txt

@@ -13,15 +13,6 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-
-# Generate Python classes for the custom service
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "srv/GetInt.srv"
-  DEPENDENCIES std_msgs
-  ADD_LINTER_TESTS
-)
-
 # Bind-mounted / persisted build dirs can leave .../ament_cmake_python/<pkg>/<pkg> as a directory
 # from an interrupted build; the next build then fails creating the symlink ("Is a directory").
 if(TARGET ament_cmake_python_symlink_${PROJECT_NAME})
@@ -94,7 +85,4 @@ if(BUILD_TESTING)
   )
 endif()
 
-# Export the generated interfaces
-ament_export_dependencies(rosidl_default_runtime)
-
 ament_package()

camera_ros/package.xml

@@ -19,9 +19,6 @@
   <depend>std_srvs</depend>
   <depend>std_msgs</depend>
   <depend>cv_bridge</depend>
-  <depend>rosidl_default_generators</depend>
-  <depend>rosidl_default_runtime</depend>
-
   <exec_depend>python3-opencv</exec_depend>
   <exec_depend>gstreamer1.0-tools</exec_depend>
   <exec_depend>gstreamer1.0-plugins-good</exec_depend>
@@ -33,8 +30,6 @@
   <test_depend>python3-pytest-mock</test_depend>
   <test_depend>python3-pytest-cov</test_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

camera_ros/scripts/camera_publisher.py

@@ -19,7 +19,6 @@
 from sensor_msgs.msg import CompressedImage
 from std_msgs.msg import Int32
 from std_srvs.srv import SetBool
-from camera_ros.srv import GetInt
 import cv2
 
 FPS = 10.0
@@ -97,8 +96,6 @@ def __init__(self):
         # Create services for streaming control
         self.create_service(SetBool, 'start_streaming', self.start_streaming_callback)
         self.create_service(SetBool, 'stop_streaming', self.stop_streaming_callback)
-        self.create_service(GetInt, 'get_client_count', self.get_client_count)
-
         # Subscribe to client count for automatic control
         self.create_subscription(Int32, '/client_count', self.client_count_callback, 10)
 
@@ -107,10 +104,6 @@ def __init__(self):
             f"at {self.target_fps} FPS"
         )
 
-    def get_client_count(self, request, response):
-        response.value = self.client_count
-        return response
-
     def start_streaming_callback(self, request, response):
         """Service: Start streaming."""
         if not self.is_streaming:

camera_ros/test/test_camera_publisher.py

@@ -258,33 +258,6 @@ def test_client_count_callback_stop(
         assert node.is_streaming is False
         assert node.client_count == 0
 
-    @patch('cv2.VideoCapture')
-    @patch('subprocess.run')
-    def test_get_client_count_service(
-        self, mock_subprocess, mock_videocapture, rclpy_init_shutdown
-    ):
-        """Test get_client_count service."""
-        # Import here to ensure path is set up
-        from camera_ros.srv import GetInt
-        from camera_publisher import CameraPublisher
-
-        # Mock subprocess and VideoCapture
-        mock_subprocess.return_value.returncode = 0
-        mock_subprocess.return_value.stdout = (
-            "webcamproduct: usb-webcam:\n        /dev/video6\n"
-        )
-        mock_cap = MagicMock()
-        mock_cap.isOpened.return_value = True
-        mock_videocapture.return_value = mock_cap
-
-        node = CameraPublisher()
-        node.client_count = 5
-
-        request = GetInt.Request()
-        response = node.get_client_count(request, GetInt.Response())
-
-        assert response.value == 5
-
     @patch('cv2.VideoCapture')
     @patch('subprocess.run')
     def test_topic_name_ext_camera(

camera_ros/test/test_camera_stream_controller.py

@@ -33,26 +33,33 @@ def rclpy_init_shutdown():
     rclpy.shutdown()
 
 
+@pytest.fixture
+def controller_node(rclpy_init_shutdown):
+    """Create a CameraStreamController and destroy it before rclpy shuts down."""
+    from camera_stream_controller import CameraStreamController
+    node = CameraStreamController()
+    yield node
+    node.destroy_node()
+
+
 class TestCameraStreamController:
     """Unit tests for CameraStreamController node."""
 
-    def test_node_initialization(self, rclpy_init_shutdown):
+    def test_node_initialization(self, controller_node):
         """Test that controller node initializes correctly."""
-        from camera_stream_controller import CameraStreamController
-
-        node = CameraStreamController()
+        node = controller_node
 
         assert node.get_name() == 'camera_stream_controller'
         assert node.current_client_count == 0
         assert node.is_streaming is False
         assert node.start_streaming_client is not None
         assert node.stop_streaming_client is not None
 
-    def test_client_count_callback_start(self, rclpy_init_shutdown):
+    def test_client_count_callback_start(self, controller_node):
         """Test client count callback starts streaming when clients > 0."""
         from camera_stream_controller import CameraStreamController
+        node = controller_node
         with patch.object(CameraStreamController, 'start_streaming') as mock_start:
-            node = CameraStreamController()
             node.is_streaming = False
 
             msg = Int32()
@@ -62,11 +69,11 @@ def test_client_count_callback_start(self, rclpy_init_shutdown):
             mock_start.assert_called_once()
             assert node.current_client_count == 1
 
-    def test_client_count_callback_stop(self, rclpy_init_shutdown):
+    def test_client_count_callback_stop(self, controller_node):
         """Test client count callback stops streaming when clients == 0."""
         from camera_stream_controller import CameraStreamController
+        node = controller_node
         with patch.object(CameraStreamController, 'stop_streaming') as mock_stop:
-            node = CameraStreamController()
             node.is_streaming = True
 
             msg = Int32()
@@ -76,11 +83,9 @@ def test_client_count_callback_stop(self, rclpy_init_shutdown):
             mock_stop.assert_called_once()
             assert node.current_client_count == 0
 
-    def test_start_streaming_service_available(self, rclpy_init_shutdown):
+    def test_start_streaming_service_available(self, controller_node):
         """Test start_streaming when service is available."""
-        from camera_stream_controller import CameraStreamController
-
-        node = CameraStreamController()
+        node = controller_node
         node.start_streaming_client.wait_for_service = Mock(return_value=True)
         node.start_streaming_client.call_async = Mock(return_value=MagicMock())
 
@@ -91,11 +96,9 @@ def test_start_streaming_service_available(self, rclpy_init_shutdown):
         )
         node.start_streaming_client.call_async.assert_called_once()
 
-    def test_start_streaming_service_unavailable(self, rclpy_init_shutdown):
+    def test_start_streaming_service_unavailable(self, controller_node):
         """Test start_streaming when service is unavailable."""
-        from camera_stream_controller import CameraStreamController
-
-        node = CameraStreamController()
+        node = controller_node
         node.start_streaming_client.wait_for_service = Mock(return_value=False)
         node.get_logger = Mock()
 
@@ -106,11 +109,9 @@ def test_start_streaming_service_unavailable(self, rclpy_init_shutdown):
         )
         node.get_logger().warn.assert_called()
 
-    def test_stop_streaming_service_available(self, rclpy_init_shutdown):
+    def test_stop_streaming_service_available(self, controller_node):
         """Test stop_streaming when service is available."""
-        from camera_stream_controller import CameraStreamController
-
-        node = CameraStreamController()
+        node = controller_node
         node.stop_streaming_client.wait_for_service = Mock(return_value=True)
         node.stop_streaming_client.call_async = Mock(return_value=MagicMock())
 
@@ -121,11 +122,9 @@ def test_stop_streaming_service_available(self, rclpy_init_shutdown):
         )
         node.stop_streaming_client.call_async.assert_called_once()
 
-    def test_stop_streaming_service_unavailable(self, rclpy_init_shutdown):
+    def test_stop_streaming_service_unavailable(self, controller_node):
         """Test stop_streaming when service is unavailable."""
-        from camera_stream_controller import CameraStreamController
-
-        node = CameraStreamController()
+        node = controller_node
         node.stop_streaming_client.wait_for_service = Mock(return_value=False)
         node.get_logger = Mock()