Merge RDML/main into this repo.

.docker/Dockerfile

@@ -243,13 +243,6 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=\$HOME/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_P
 
 # Add ardupilot_gazebo models and worlds
 export GZ_SIM_RESOURCE_PATH=\$HOME/ardupilot_gazebo/models:\$HOME/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
-
-# Add blue models and worlds
-BLUE_DESCRIPTION=\$USER_WORKSPACE/src/blue/blue_description
-export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/gazebo/models:\$BLUE_DESCRIPTION/gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
-
-# Add blue meshes
-export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/meshes:\$GZ_SIM_RESOURCE_PATH
 EOT
 
 FROM desktop AS desktop-nvidia

.docker/compose/nouveau-desktop.yaml

@@ -1,4 +1,3 @@
-version: "3"
 services:
   blue:
     image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop

.docker/compose/nvidia-desktop.yaml

@@ -1,4 +1,3 @@
-version: "3"
 services:
   blue:
     image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia

.github/workflows/docker.yaml

@@ -99,7 +99,7 @@ jobs:
 
       - if: github.event_name == 'push'
         name: Build and push (non PR)
-        uses: docker/bake-action@v5.7.0
+        uses: docker/bake-action@v5.10.0
         env:
           BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
           BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }}
@@ -119,7 +119,7 @@ jobs:
       # Pull request builds are not cached; and only built for AMD64
       - if: github.event_name == 'pull_request'
         name: Build and push (PR)
-        uses: docker/bake-action@v5.7.0
+        uses: docker/bake-action@v5.10.0
         env:
           BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
           BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }}

blue_bringup/launch/bluerov2/bluerov2.launch.yaml

@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file
@@ -122,4 +122,4 @@ launch:
       file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml
 
   - include:
-      file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml
+      file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml

blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml

@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file
@@ -122,4 +122,4 @@ launch:
       file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml
 
   - include:
-      file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml
+      file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml

blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml

@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file
@@ -122,4 +122,4 @@ launch:
       file: $(find-pkg-share blue_bringup)/launch/$(var model_name)/thrusters.launch.yaml
 
   - include:
-      file: $(find-pkg-share mobile_to_maritime)/launch/tf.launch.yaml
+      file: $(find-pkg-share message_transforms)/launch/tf.launch.yaml

blue_demos/control_integration/config/transforms.yaml

@@ -0,0 +1,11 @@
+/control_integration/message_transforms:
+  ros__parameters:
+
+    incoming_topics:
+      - /mavros/local_position/velocity_body
+
+    transforms:
+      /mavros/local_position/velocity_body:
+        outgoing_topic: /integral_sliding_mode_controller/system_state
+        message_type: geometry_msgs/msg/TwistStamped
+        frame_id: base_link_fsd

blue_demos/control_integration/launch/bluerov2_controllers.launch.py

@@ -19,9 +19,14 @@
 # THE SOFTWARE.
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, RegisterEventHandler
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+)
 from launch.event_handlers import OnProcessExit
-from launch.substitutions import PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution, TextSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
@@ -48,18 +53,27 @@ def generate_launch_description() -> LaunchDescription:
     ]
 
     # The ISMC expects state information to be provided in the FSD frame
-    mobile_to_maritime_velocity_state = Node(
-        package="mobile_to_maritime",
-        executable="mobile_twist_stamped_to_maritime_twist",
-        name="velocity_state_transform",
-        parameters=[
-            {
-                "in_topic": "/mavros/local_position/velocity_body",
-                "out_topic": "/integral_sliding_mode_controller/system_state",
-                "qos_reliability": "best_effort",
-                "qos_durability": "volatile",
-            }
-        ],
+    message_transformer = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("message_transforms"),
+                    "launch",
+                    "message_transforms.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "parameters_file": PathJoinSubstitution(
+                [
+                    FindPackageShare("blue_demos"),
+                    "control_integration",
+                    "config",
+                    "transforms.yaml",
+                ]
+            ),
+            "ns": TextSubstitution(text="control_integration"),
+        }.items(),
     )
 
     controller_manager = Node(
@@ -151,7 +165,7 @@ def generate_launch_description() -> LaunchDescription:
     return LaunchDescription(
         [
             *args,
-            mobile_to_maritime_velocity_state,
+            message_transformer,
             controller_manager,
             *delay_thruster_spawners,
             delay_tam_controller_spawner_after_thruster_controller_spawners,

blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py

@@ -19,9 +19,14 @@
 # THE SOFTWARE.
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, RegisterEventHandler
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+)
 from launch.event_handlers import OnProcessExit
-from launch.substitutions import PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution, TextSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
@@ -47,18 +52,27 @@ def generate_launch_description() -> LaunchDescription:
     ]
 
     # The ISMC expects state information to be provided in the FSD frame
-    mobile_to_maritime_velocity_state = Node(
-        package="mobile_to_maritime",
-        executable="mobile_twist_stamped_to_maritime_twist",
-        name="velocity_state_transform",
-        parameters=[
-            {
-                "in_topic": "/mavros/local_position/velocity_body",
-                "out_topic": "/integral_sliding_mode_controller/system_state",
-                "qos_reliability": "best_effort",
-                "qos_durability": "volatile",
-            }
-        ],
+    message_transformer = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("message_transforms"),
+                    "launch",
+                    "message_transforms.launch.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "parameters_file": PathJoinSubstitution(
+                [
+                    FindPackageShare("blue_demos"),
+                    "control_integration",
+                    "config",
+                    "transforms.yaml",
+                ]
+            ),
+            "ns": TextSubstitution(text="control_integration"),
+        }.items(),
     )
 
     controller_manager = Node(
@@ -150,7 +164,7 @@ def generate_launch_description() -> LaunchDescription:
     return LaunchDescription(
         [
             *args,
-            mobile_to_maritime_velocity_state,
+            message_transformer,
             controller_manager,
             *delay_thruster_spawners,
             delay_tam_controller_spawner_after_thruster_controller_spawners,

blue_demos/teleoperation/config/joy_teleop.yaml

@@ -8,7 +8,7 @@ joy_teleop:
     manual_control:
       type: topic
       interface_type: geometry_msgs/msg/Twist
-      topic_name: cmd_vel
+      topic_name: /cmd_vel
       deadman_axes: [2]
       axis_mappings:
         linear-x:

blue_demos/teleoperation/config/transforms.yaml

@@ -0,0 +1,10 @@
+message_transforms:
+  ros__parameters:
+
+    incoming_topics:
+      - /cmd_vel
+
+    transforms:
+      /cmd_vel:
+        outgoing_topic: /integral_sliding_mode_controller/reference
+        message_type: geometry_msgs/msg/Twist

blue_demos/teleoperation/launch/joy_teleop.launch.yaml

@@ -5,8 +5,8 @@ launch:
       default: $(find-pkg-share blue_demos)/teleoperation/config/joy_teleop.yaml
 
   - arg:
-      name: use_maritime
-      default: "true"
+      name: transforms_file
+      default: $(find-pkg-share blue_demos)/teleoperation/config/transforms.yaml
 
   - node:
       pkg: joy_linux
@@ -22,12 +22,8 @@ launch:
       param:
         - from: $(var joy_file)
 
-  - node:
-      pkg: mobile_to_maritime
-      exec: mobile_twist_to_maritime_twist
-      param:
-        - name: in_topic
-          value: cmd_vel
-        - name: out_topic
-          value: /integral_sliding_mode_controller/reference
-      if: $(var use_maritime)
+  - include:
+      file: $(find-pkg-share message_transforms)/launch/message_transforms.launch.py
+      arg:
+        - name: parameters_file
+          value: $(var transforms_file)

blue_description/CMakeLists.txt

@@ -8,4 +8,6 @@ install(
   DESTINATION share/blue_description
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/hooks.dsv.in")
+
 ament_package()