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.