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.