Changelog for package rosbot_bringup

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.

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

• Move animation_publisher parameters into the model config

• Add navigation animation and rename car_wave to ready

• Clean up

• Select LED animations from config_dir without a restart current_animation now re-reads <name>.png/.yaml from disk on every set, so a PNG dropped into config_dir needs no driver restart. create_config_dir no longer aborts the whole copy on a dangling symlink.

• 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.

• feat(rosbot_utils): parameter-selectable LED animation publisher Replace the two hard-coded LED nodes (led_strip_rainbow / led_strip_car_wave) with a single animation_publisher that plays user-definable PNG animations (row = frame, column = LED) selected by the current_animation node parameter.

  - Animations are auto-discovered from rosbot_utils/animations (shipped) and an optional user dir; each is a <name>.png + <name>.yaml sidecar (frequency, brightness, optional color tint). Filename stem = animation name.

  - Publishes the firmware contract unchanged: sensor_msgs/Image 1x18 rgb8, BEST_EFFORT, at the animation's frequency. Wider PNG rows are cropped to the first 18 columns, narrower rows padded black.

  - current_animation is validated on set (on-set-parameters callback); the reserved 'none' publishes nothing so the firmware idle animation shows.

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