Patch v2.2.4 - Deployment + Manual Calibration Fixes

v2.2.4 - Deployment + Manual Calibration Fixes

Race-prep release on top of v2.2.3: merges the robot-side deployment fixes and makes the manual hand-eye calibration (ros2 run vision calibration_node handeye ...) work reliably on the patched tree.

What changed

Deployment (merged from the "fixed-for-robot" package)

• scripts/assist.sh + robocup_game_assist.service: tree:=assist → tree:=chase. assist.xml never existed in behavior_trees/, so the assist autostart crashed the brain at init.
• robocup_game_assist.service: Restart=never is not a valid systemd value → Restart=no; added WorkingDirectory; fixed missing trailing newline.
• distribution/install.sh / uninstall.sh: install root is now /home/booster/Workspace/robocup_demo (override with ROBOCUP_WORKSPACE); an existing install is backed up (.backup-<timestamp>) instead of rm -rf'd; set -e, quoted paths, and tolerant stop/disable ordering on uninstall.

Manual hand-eye calibration

• src/vision/CMakeLists.txt: install(DIRECTORY model ... OPTIONAL). Source checkouts from this repo have no model/ dir (engines are stripped; git drops empty dirs), which failed the vision install step and produced Package 'vision' not found after a build. Vision now installs regardless; copy the engines from this release zip into src/vision/model/ for detection to work.
• calibration_node.cpp: intrinsics topic rgb/camera_info → depth/camera_info, matching the robot-verified K1_5v5_Demo_v1.6_fixed reference (rgb/camera_info is not published on some firmware; intrinsics still bootstrap from vision.yaml either way).
• scripts/start_calibration.sh: now verifies the workspace is built and the vision package resolves after sourcing, with actionable error messages. Reminder: the vision package only builds ON the robot (CUDA/TensorRT required) - Package 'vision' not found on a PC is expected.

How to calibrate (on the robot)

./scripts/stop.sh
./scripts/build.sh
./scripts/start_calibration.sh   # runs calibration_node handeye + copies result to /opt/booster/vision.yaml

The calibration UI needs an X-capable terminal (MobaXterm / ssh -X).

Packaging

• Repository source folder v2.2.4/ excludes TensorRT .engine model files.
• Release asset v2.2.4.zip contains the full patch folder, including model engines.

Validation

• Deployment-script changes were hash-diffed against the working robot package; the vision package with the same calibration_node lineage built and installed calibration_node on the robot (verified from the reference workspace's build/install tree).
• start_calibration.sh verified LF line endings.
• Full ROS/colcon build was not run on this PC because ROS/colcon is not installed locally - build with ./scripts/build.sh on the robot.