Changelog for package rosbot_description

1.2.4 (2026-09-01)

1.2.3 (2026-08-26)

• Add ROSbot 3 pro config + move camera_mount to custom yaml component (#194)

  * Add ROSbot 3 pro configuration (OAK-D Pro + RPLIDAR S2) basic stays OAK-D Lite + RPLIDAR C1; pro is the ROSbot 3 PRO sensor set, mirroring the existing basic/telepresence/autonomy split for rosbot_xl.

  * Move camera_mount to a custom yaml component for ROSbot XL Was built into rosbot_xl_macro.urdf.xacro behind an internal include_camera_mount toggle; now telepresence.yaml/autonomy.yaml add it as a [type: custom]{.title-ref} component (like man01_bracket), with camera_mount_angle_1/2 read straight off that yaml entry via the new husarion_components_description [component]{.title-ref} passthrough (bumped pin: f059bb6 -> 5f783f8).

  • Use canonical component names instead of SKU codes in manipulation configs
  • Bump firmware

  * Fix test_spawn_robot_configuration_choices to cover both models configuration is now a shared arg (rosbot: basic/pro/custom, rosbot_xl: full set) since the ROSbot 3 pro config landed, but the test still only diffed spawn_robot.yaml's choices against rosbot_xl/*.yaml, so adding [pro]{.title-ref} (which lives under config/rosbot/) tripped it as drift.

• Contributors: Rafal Gorecki

1.2.2 (2026-08-25)

• Fix tf_bridge remap tf topic bug
• Contributors: rafal-gorecki

1.2.1 (2026-08-14)

• Add ZED Mini + MAN01 bracket mount to manipulation_pro (#192)

  * Add ZED Mini + MAN01 bracket to manipulation_pro Custom component (own mesh) mounted on link5, oriented so the widest mounting plate faces up with its long edge along Y. Collision uses 4 boxes fitted to the mesh cross-sections instead of the visual mesh.

  * Consistent man01_bracket naming, convex-hull STL for collision Renames the bracket macro/mesh/component/links to man01_bracket throughout (was a zed_mini_man01_bracket/bracket mix). CAM05 attaches to a dedicated camera_mount_link on the bracket instead of duplicating xyz/rpy on both components. Collision switches from 4 hand-fitted boxes to a single convex-hull STL (182 faces vs 9228 in the visual mesh) - simpler to maintain and still fully encloses the mesh.

• Contributors: Rafal Gorecki

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.

• 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

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