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27 days ago
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Fix the broken-build sample and make build error summaries clearer
Chandra KiranUnverified signatureThe sample lacked <description>, so it failed in package.xml parsing instead of the compiler. Error summaries now skip bare Traceback headers and keep the explanation line that follows a CMake error.e8927db -
Add /code/check, more robots, and a real hold controller
Chandra KiranUnverified signatureROS 2 check: POST /code/check (or check: true on /code/generate) runs a generated package through the sandbox. The report shows build/launch/test results, errors, missing dependencies, the nodes and topics that came up, the logs, and the recorded bag in Foxglove. The sandbox now uses CycloneDDS with unicast discovery on loopback (containers have no loopback multicast), and our own shutdown no longer counts as a crash. The interface catalogue adds nav2_msgs, control_msgs and moveit_msgs. Robots: Unitree H1 and Go2 and the Franka Panda join the G1. 'hold' keeps the starting pose with a PD law on torque motors (H1, Go2) and targets on position servos; 'passive' now really switches actuation off. The H1 gets a balanced standing pose (it tips over from Menagerie's home pose); all four hold for 20 s.225dc91 -
Add a ROS 2 sandbox that builds, lints, tests and launches packages
Chandra KiranUnverified signatureworker/ros/Dockerfile (humble/jazzy) carries colcon, the ament linters, launch_testing, ros2_control, Nav2, MoveIt 2, xacro, robot_state_publisher, tf2 and rosbag2 MCAP. worker/ros_runner.py builds the package, runs the linters and tests, launches it for 10 s while recording every topic, and reports what came up or crashed. CI checks four sample packages (good Python, good C++, one that does not compile, one that crashes) in both distros. On Modal it runs without network or secrets.dbf4bd1