Lupin v1.1.0

Greenhouse mission + perception overhaul on top of v1.0.0: per-bloom flower
localization and rendering, an operator arm pose/sequence library, a hardened
mission state machine, the physical e-stop wired into the orchestrator, and a
stabilised OpenCV AprilTag pipeline. Demonstrated end-to-end in Gazebo (sim)
and on the physical MIRTE Master V2 (hardware).

Added

• Flower localization & render — new FlowerPoint message and
  flowers[] / box_footprint fields on FlowerObservation and
  TwinTagState. perception_aggregator derives a tag-anchored planter-box
  rectangle and scatters per-bloom points inside it from a pan/bbox cue; the
  twin republishes them per tag; the HMI draws the box rectangle, a diamond
  tag marker, species-coloured flower dots, and a 3D bloom health indicator.
• Arm pose & sequence library (arm_library_server, laptop-side) — named
  pose CRUD, kinesthetic/teleop sequence recording with a waypoint cap, and
  replay with scheduled gripper events and speed scaling. New lupin_msgs
  services (GetArmLibrary, SaveArmPose, ArmRecord, PlayArmSequence,
  ArmLibraryEdit), HMI Pose Library and Sequence Recorder cards, and
  voice-agent tools for the whole surface.
• Mission monitoring — ExplorationMission runs a nearest-neighbour
  monitoring sweep that completes after target_cycles (default 1), with a
  scan dwell so the per-pot patrol arm and flower detector get their window.
  Mission events are classified so the HMI shows a tone rather than a raw
  "orchestrator error".
• Physical e-stop — the hardware emergency-stop button is bridged onto
  /e_stop_state, and the HMI STOP now reaches the orchestrator e-stop.
• LED control — manual LED control plus mission-state strip colours
  (including EXPLORING/MONITORING and a distinct battery-low return colour),
  an HMI-colocated light-strip bridge, and a BRG wire-order remap.
• Sim — vision perception and per-pot arm patrol wired into
  sim_full.launch.py, a three-colour flower scan layer (trough clusters +
  bug anomalies + HSV detector), per-environment slam/nav2 launch wrappers,
  a mission_stack launch, and DEMO_DAY runbooks.
• Single source of truth for arm joint limits and trajectory building
  (arm_limits, mirrored by the frontend lib/arm.ts).

Changed

• cmd_vel_mux → twist_mux — base-velocity arbitration moved to
  twist_mux over /cmd_vel_{joy,manual,auto} (priorities 100/50/10) on both
  the sim and hardware branches.
• AprilTag detection moved from the standard ROS detector to OpenCV ArUco
  for stability, publishing detections as JSON with an HMI overlay toggle
  (no second bounding-box stream); Gazebo gains real tag36h11 models in
  place of the magenta placeholders.
• HMI arm control — sliders seed from /joint_states feedback behind a
  strict Enable arming gate, report convergence-based status, and clamp to the
  real asymmetric per-joint limits.
• Mission FSM hardened — recoverable FAULT, working dock recall, nav/dock
  timeouts and a safe freeze; battery docking is resumable into the
  originating sub-machine and retries then pauses instead of silently
  reporting DONE.
• hardware.launch.py made wired-demo-ready (robot_ip arg, leds:=false).

Fixed

• Metric frontier clearance so exploration goals clear Nav2's inflation layer.
• Twin UI greys out when /twin/state goes stale; tag markers are pinned at
  the tag pose, not the robot pose.
• Battery-percentage normalisation and an approach-footprint guard.
• Hardware clock-sync no longer wedges ros2_control.
• Sim stability: patched gazebo_ros2_control so controller_manager starts,
  restored the vendor planar_move drive (grounded spawn, no Ogre crash),
  raised planter bodies above the lidar plane, and added a continuous
  /amcl_pose stand-in so the mission clears localization.

Lupin v1.0.0

First tagged release: the full FloraNova greenhouse digital-twin stack,
demonstrated end-to-end both in Gazebo (sim) and on the physical MIRTE
Master V2 (hardware). This tag marks main synced up to the hardware
branch.

Added

• Mission orchestration (lupin_mission) — hierarchical state-machine
  orchestrator (v2) driving BOOT → READY → PREPARE → {INSPECTING | EXPLORING → MONITORING} → RETURNING → DONE/FAULT. Two mission types:
  InspectionMission (fixed tag list, once) and ExplorationMission
  (frontier-discover N tags, then monitor them in a loop). Operator services
  /mission/{start,pause,resume,abort,skip_current,dock}, 5 Hz
  /mission/state, and an /e_stop_state safety monitor.
• Battery & docking — BatteryMonitor with battery-triggered return-to-dock
  and a resumable manual/battery docking flow (/mission/dock).
• Frontier exploration (lupin_mission/frontier.py) — online frontier
  selection over the live SLAM grid for autonomous tag discovery.
• Navigation (lupin_navigation) — Nav2 with the MPPI controller
  (motion_model: Omni for the mecanum base), slam_toolbox SLAM mode, saved
  KRR-house map, and per-leg AMCL drift gating. WiFi cold-start lifecycle
  reliability tuning (hardware).
• Perception (lupin_perception) — OpenCV ArUco AprilTag detector,
  Ultralytics YOLO tulip/anomaly detector on the gripper cam, and a
  perception_aggregator fusing them into /perception/discovered_tags,
  flower observations, and a /perception/confirm_tag service.
• Greenhouse bridge (lupin_greenhouse_bridge) — ROS 2 wrapper around the
  course mdp-greenhouse simulator exposing ~/get_tag_reading.
• Digital twin (lupin_twin) — aggregates /floranova/observations into
  /twin/state and an IDW /twin/get_field service.
• Web HMI (lupin_web) — browser HMI on :8090 (Vite + React +
  shadcn/ui): Teleop, Arm, Voice (Gemini Live, 14-tool surface), Cameras,
  Telemetry, Logs, and Map tabs over rosbridge. Showpiece redesign: aurora
  background, URDF 3D twin, boot sequence, and data-reactive telemetry.
• Teleop & control interface (lupin_hmi) — PS4/Xbox + keyboard teleop,
  cmd_vel_mux arbitration, arm preset/calibration servers, and
  gripper/light-strip bridges.
• Custom messages (lupin_msgs) — Observation, MissionState,
  TagReading, SensorReading, FlowerObservation, AnomalyReport,
  TwinState/TwinTagState, DiscoveredTag/DiscoveredTags; services
  GetTagReading, StartMission, ConfirmTag, GetField, CalibrateArm.
• Bringup (lupin_bringup) — one-shot sim_full.launch.py,
  greenhouse_sim.launch.py + deterministic greenhouse world generator, and
  hardware bringup (hardware.launch.py, onboard.launch.py,
  cameras.launch.py) with systemd units, FastDDS discovery-server setup,
  Xbox BLE pairing fix, and post-boot clock sync (hardware).
• Hardware integration (hardware) — drive-inversion cancelled at source
  via telemetrix pin-swap, operator-in-the-loop Hiwonder arm zero-offset
  calibration, auto-home to a safe pose on boot, and the camera pipeline that
  relaunches vendor cameras at config-driven low FPS.
• Repository LICENSE (Apache-2.0) and this changelog.

Project meta

• Three-branch model (main/sim/hardware), Conventional Commits, and
  buddy-checked MRs — see README.
• Public documentation site: https://lupin-robot.vercel.app.