Changelog for package rosbot

1.2.1 (2026-08-14)

1.2.0 (2026-08-12)

• Compose tf_namespace_bridge with robot_state_publisher (#190)

  * Compose tf_namespace_bridge with robot_state_publisher RSP is the highest-frequency /tf publisher in the stack and tf_namespace_bridge is its direct subscriber, so loading both into one rclcpp_components container skips a serialize/DDS hop per transform. Also dedupes the tf_namespace_bridge standalone-node launch block, previously copy-pasted across rosbot_bringup (x2) and rosbot_gazebo, into rosbot_description's node_container — including the config file, identical in all three copies.

  • Bump tf_namespace_bridge

  * Revert composing tf_namespace_bridge with robot_state_publisher LoadComposableNodes lazily creates a shared launch_ros ROSAdapter and registers an OnShutdown handler. rosbot_controller/controller.yaml's ros2_control_node has on_exit: shutdown (deliberate fail-fast), so every exit of it -- including a completely normal shutdown -- fires an extra Shutdown that races the planned one, double-calling ros_adapter.shutdown() and raising "Cannot shutdown a ROS adapter that is not running". That exception interrupts the SIGINT->SIGTERM escalation for the remaining processes, so unrelated ones die via raw signal instead of exiting cleanly. 100% reproducible in CI, and the same symptom shows up independently in navigation2#4722 -- a launch_ros framework interaction, not fixable from our launch files. Keeps the config dedup (rosbot_description is now the sole owner of tf_namespace_bridge.yaml, previously duplicated identically across rosbot_bringup/rosbot_gazebo/rosbot_description) since that part never touched node composition and stayed green throughout.

• Restore vendored stb_image.h and the controllers pin rationale (#189) clang-format rewrote 6.3k lines of upstream stb_image v2.30 before the third_party exclusion landed, so the file could no longer be resynced against upstream.

• Merge pull request #188 from husarion/feature/twist-mux-controller Feature/twist mux controller

• Fix vcs

• Add navigation animation and rename car_wave to ready

• Bump husarion_controllers to merged drive_controller param

• Add twist_mux_controller for cmd_vel priority arbitration Gamepad and nav2 both published to /cmd_vel with nothing arbitrating between them. The mux chains onto the drive controller's reference interfaces, so the choice is resolved inside the 100 Hz control loop instead of over topics: manual (100) > autonomous (10) > cmd_vel (1), with 0.2 s fallthrough. Needs the husarion_controllers revision that adds twist_mux_controller's drive_controller parameter (pin bumped) — the two drive controllers name their reference interfaces differently and an older revision leaves the mux unable to claim them, so the robot comes up unresponsive. Jazzy only: humble's diff_drive_controller is not chainable.

• Merge pull request #187 from husarion/feature/asset-server-bringup Run husarion_asset_server in the driver launch, not a separate daemon

• Run husarion_asset_server in the driver launch, not a separate daemon Vendors it as a new husarion_asset_server package that fetches + sha256-verifies the prebuilt release binary instead of building via colcon-ros-cargo (avoids a Rust/clang toolchain in dev/CI/rosbot-snap). Runs as a node in rosbot_bringup's own launch under push_ros_namespace, gated by a new asset_server arg (default True) - gets the correct namespace at startup instead of needing a restart-to-re-announce hack.

• Rework wheel meshes to GLB, add camera collision geometry wheel/mecanum meshes converted dae->glb; wheel_l/wheel_r are re-extracted from the ROSbot-3-PRO reference CAD (real rim+tire geometry, metallic rim / rubber tire materials) replacing the old low-poly placeholder, while mecanum_l/mecanum_r are a decimated conversion of the existing mesh (original ~5MB exceeded the repo's 3MB pre-commit limit). camera_mount_link gets a collision (previously none) - a simplified STL of the CAD camera holder bracket, since its shape (two tapering legs) doesn't reduce well to box/cylinder primitives. Bump husarion_components_description: depthai_descriptions ships OAK camera models with visual-only meshes, no collision geometry.

• Contributors: Rafal Gorecki, rafal-gorecki

1.1.1 (2026-06-29)

• Bump husarion_components_description
• Update rosbot body mesh; retune camera mount; bump

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