Fix: Launch fuse and AprilTag detectors for space_satellite_sim in dev#641
Open
davetcoleman wants to merge 2 commits into
Open
Fix: Launch fuse and AprilTag detectors for space_satellite_sim in dev#641davetcoleman wants to merge 2 commits into
davetcoleman wants to merge 2 commits into
Conversation
`agent_robot.app` includes the config's `hardware.simulated_hardware_launch_file` when `simulated: True`. That key was never set, so fuse + AprilTag detectors only ran in prod / e2e (via the standalone `agent_bridge.launch.xml` container) and `/odom_filtered` was never published in dev. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Replace the standalone `Waiting for operator approval` log line with a
descriptive `BreakpointSubscriber` message ("Approve satellite grappling") so
the prompt appears in the operator UI alongside the breakpoint instead of as a
separate console log.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
davetcoleman
force-pushed
the
fix/space-satellite-sim-fuse-dev-launch
branch
from
36a8334 to
999f4ec
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
In dev mode (
agent_robot.app), thespace_satellite_simconfiguration never started the fusestate_estimatoror the AprilTag detectors./odom_filteredwas never published, soGrapple Moving Satellite via Fiducial Tracking'sGetOdomonly ever produced a default-constructedPoseStampedwith an emptyframe_id, surfacing as a rapid stream of:Verified with
ros2 node list(nostate_estimator, noapriltag_*) andros2 topic echo --once /odom_filtered("topic does not appear to be published yet").agent_bridge.launch.xmlis only launched as a standalone container in prod / e2e (docker-compose-prod.yaml:120,docker-compose.e2e.yaml:73). The mechanism that makesagent_robot.appinclude extra simulation nodes in dev is thehardware.simulated_hardware_launch_filekey (seemoveit_studio_agent/launch_description.py:302-312'sif is_simulated:block). That key was never set forspace_satellite_sim, so fuse + AprilTag detectors were dev-invisible since PR #225.Changes
simulated_extras.launch.xmlholding the AprilTag + fuse includes.agent_bridge.launch.xmldelegates to it, so prod / e2e and dev share one source.config/config.yamlsetshardware.simulated_hardware_launch_filesoagent_robot.apppicks it up automatically when running simulated.Commit structure
Two commits, kept separate intentionally (please do not squash):
fix(space_satellite_sim): launch fuse and apriltag detectors in dev— the launch-wiring fix described above.chore(space_satellite_sim): clarify operator approval breakpoint message— small UX tweak to the grappling objective: replaces aLogMessageconsole line with a descriptiveBreakpointSubscribermessage ("Approve satellite grappling") so the prompt shows up in the operator UI.The two changes are unrelated; splitting them keeps the launch fix bisect-clean and lets the UX tweak be reverted independently if needed.