Document ROS simulation boundary - #26

Open

agupt0318 wants to merge 230 commits into

mainfrom

autonomy_fall2026

Commits on Sep 6, 2026

Add normalized autonomy drive commands
agupt0318
committed
9d8b982
Route autonomy through shared drive topic
agupt0318
committed
4ea18e1
Launch shared rover drive for autonomy
agupt0318
committed
c47f765
Test autonomy drive command mapping
agupt0318
committed
3ba8d2a
Enforce autonomy Python coverage in CI
agupt0318
committed
c5b9eb2
Document autonomy testing roadmap
agupt0318
committed
3369d0d
Use shared drive scaling in simulation
agupt0318
committed
2b76620
Handle autonomy controller shutdown cleanly
agupt0318
committed
9d459de
Make drive launch paths portable
agupt0318
committed
19f22ff
Add simple rover run command
agupt0318
committed
0a9a18e
Document simple driving commands
agupt0318
committed
ed74ade
Source ROS safely in run helper
agupt0318
committed
3116424
Forward ROS launch arguments
agupt0318
committed
8cc0628
Explain autonomy test dependencies
agupt0318
committed
1d0cc40
Preflight autonomy test tools
agupt0318
committed
ee96c64
Make planner visualization optional
agupt0318
committed
1e1a413
Fix no-hardware autonomy startup
agupt0318
committed
13ace0c
Add one-command ROS dependency setup
agupt0318
committed
3da138f
Fix run mode variable forwarding
agupt0318
committed
c3a916e
Initialize rosdep during setup
agupt0318
committed
ed205ce
Separate rosdep setup commands
agupt0318
committed
1b8c01d
Scope setup to driving packages
agupt0318
committed
c1a17f9
Simplify controller dependency setup
agupt0318
committed
0740ec9
Document controller laptop setup
agupt0318
committed
0fd5054
Clarify controller setup help
agupt0318
committed
8ad9c3d
Extract planner waypoint decisions
agupt0318
committed
6d4dee4
Extract planner path-shape decisions
agupt0318
committed
2f2f605
Extract planner segment cost decisions
agupt0318
committed
321aca6
Use pure costmap parsing in planner
agupt0318
committed
5ec0924
Use pure planner waypoint progression
agupt0318
committed
d3585ff
Use pure planner density decision
agupt0318
committed
00e562f
Use pure neighboring cell costs
agupt0318
committed
77b21b8
Use pure planner segment costs
agupt0318
committed
cfdac9e
Use pure planner path smoothing
agupt0318
committed
925bb13
Remove node-bound smoothing helpers
agupt0318
committed
f8ebdfa
Test pure planner transitions
agupt0318
committed
e94c475
Test planner geometry decisions
agupt0318
committed
df8029b
Correct planner cost expectation
agupt0318
committed
2431554
Extract costmap point projection
agupt0318
committed
858f1c1
Extract costmap update decisions
agupt0318
committed
7720d11
Use pure costmap point projection
agupt0318
committed
3ada9dd
Use pure costmap obstacle updates
agupt0318
committed
2b128e1
Use pure costmap decay decisions
agupt0318
committed
923f962
Test pure costmap projection
agupt0318
committed
16f809c
Test costmap scoring and decay
agupt0318
committed
a3ecc2f
Use tolerant costmap height assertions
agupt0318
committed
adbb874
Extract mission target decisions
agupt0318
committed
381298f
Extract mission search decisions
agupt0318
committed
26a415c
Extract mission coordinate conversion
agupt0318
committed
944ea50
Use pure mission waypoint decisions
agupt0318
committed
aee984a
Use pure mission search decisions
agupt0318
committed
3cf3682
Use pure mission geometry helpers
agupt0318
committed
49fcc78
Centralize pure mission state selection
agupt0318
committed
2775571
Import pure mission state selector
agupt0318
committed
4746139
Use pure mission state selector
agupt0318
committed
babf0b5
Test mission waypoint decisions
agupt0318
committed
0c8e458
Test mission search decisions
agupt0318
committed
0ca3b67
Test mission object transitions
agupt0318
committed
8ef2ee0
Test mission selector and geometry
agupt0318
committed
73a7c3a
Cover pure autonomy decision modules
agupt0318
committed
0786519
Document pure autonomy decision coverage
agupt0318
committed
b8efda7
Add CI rosdep compatibility wrapper
agupt0318
committed
2dcfd7d
Install CI dependencies before build
agupt0318
committed
d3b25d4
Harden CI runtime and checkout
agupt0318
committed
99cc3d9
Repair ROS apt setup in CI
agupt0318
committed
d0c9e0b
Avoid discovering ZED node as a test
agupt0318
committed
3e6eb96
Route Fabric tests through integration stage
agupt0318
committed
798646e
Defer Fabric callback error teardown
agupt0318
committed
5583bd4
Correct end effector test assumptions
agupt0318
committed
3630bbb
Make autonomy coverage container safe
agupt0318
committed
20f5e9e
Add deterministic planner safeguards
agupt0318
committed
a8273f8
Test deterministic planner safeguards
agupt0318
committed
1cec649
Use deterministic local replanning
agupt0318
committed
ebe8733
Define safe waypoint arrival
agupt0318
committed
6afeddc
Stop autonomy at reached waypoints
agupt0318
committed
26eef54
Repair static analysis environment
agupt0318
committed
6424aaa
Limit static checks to changed C++
agupt0318
committed
6767009
Document software-only autonomy safeguards
agupt0318
committed
a739979

Commits on Sep 7, 2026

Remove deprecated changed-files action
agupt0318
committed
5da7531
Hold unsafe autonomy paths before replanning
agupt0318
committed
e0a9a04
Map autonomy control architecture
agupt0318
committed
db45ed4
Document autonomy nodes and Gazebo validation
agupt0318
committed
c892b6b
Link autonomy architecture guide
agupt0318
committed
fe6e872
Fail closed on stale autonomy inputs
agupt0318
committed
5825355
Stop autonomy on stale navigation data
agupt0318
committed
53c320f
Define autonomy perception target contract
agupt0318
committed
392df72
Match perception detections to mission steps
agupt0318
committed
6ee23b5
Test autonomy perception target contract
agupt0318
committed
5a80a7e
Reject unsafe autonomy planner transitions
agupt0318
committed
b2a5026
Test autonomy planner safety boundaries
agupt0318
committed
c1bfda3
Cover autonomy target contracts in CI
agupt0318
committed
09fa89c
Harden autonomy planner message inputs
agupt0318
committed
ac4e953
Test autonomy planner message contracts
agupt0318
committed
082a54e
Require GPS before publishing autonomy pose
agupt0318
committed
a8a2bca
Publish initialized filtered simulation pose
agupt0318
committed
209de63
Remove unused autonomy code paths
agupt0318
committed
4ffb285
Trim dead controller commentary
agupt0318
committed
334d336
Collapse duplicate waypoint steering paths
agupt0318
committed
af7dd64
Remove unused Stanley controller state
agupt0318
committed
799d311
Strip dead global relay state
agupt0318
committed
b0333ae
Remove duplicate target relay wiring
agupt0318
committed
9f3b4b8
Delete obsolete global target relay
agupt0318
committed
3239be1
Delete inert autonomy code blocks
agupt0318
committed
5302be5
Remove dead odometry transform draft
agupt0318
committed
2d57fda
Delete unused simulation transform draft
agupt0318
committed
69dd679
Add shared drive simulation check
agupt0318
committed
1a43f01

Commits on Sep 8, 2026

Remove stale costmap test import
agupt0318
committed
5f15515

Commits on Sep 9, 2026

Add drive command mux safety core
agupt0318
committed
4dfd17e
Test drive command mux safety
agupt0318
committed
3175892
Define normalized rover drive command
agupt0318
committed
2fc80e8
Add ROS drive command mux
agupt0318
committed
b1f51c7
Register drive command mux node
agupt0318
committed
045dcb4
Publish named autonomy drive commands
agupt0318
committed
3366fa5
Add selected drive command endpoint
agupt0318
committed
01f2ab3
Publish converted teleop drive commands
agupt0318
committed
7767a4a
Consume only selected drive commands
agupt0318
committed
f4e9e46
Remove hidden drive priority arbitration
agupt0318
committed
afb8ed6
Rename selected drive state clearly
agupt0318
committed
fa28435
Select drive source in launch modes
agupt0318
committed
7e21df3
Rename raw drive controller topics
agupt0318
committed
fcf1b3a
Route keyboard teleop through drive mux
agupt0318
committed
507796d
Route legacy swerve through drive mux
agupt0318
committed
57a1395
Delete bypassed point turn callback
agupt0318
committed
cb0baa6
Delete bypassed Ackermann callback
agupt0318
committed
06fde04
Honor selected drive speed in legacy backend
agupt0318
committed
a712fe8
Launch mux with legacy drive backend
agupt0318
committed
668662a
Add runtime drive source selection
agupt0318
committed
1766e03
Test mux convergence and estop in Gazebo
agupt0318
committed
791b6a7
Remove unused swerve backend values
agupt0318
committed
cd83bac
Finish drive controller topic rename
agupt0318
committed
74442e1
Document selected drive command flow
agupt0318
committed
b8b9dc3
Document drive mux topic contract
agupt0318
committed
87117f8
Update drive runtime topic maps
agupt0318
committed
73d5bb9
Use shared hardware drive backend
agupt0318
committed
6f37c00
Refresh drive package topic maps
agupt0318
committed
89def68
Refresh summarized drive topic names
agupt0318
committed
8ca7943
Bound Gazebo drive check retries
agupt0318
committed
72032a6
Document reserved drive command topic
agupt0318
committed
9ae5afb
Map codebase package ownership
agupt0318
committed
85925f6
Map canonical ROS runtime graph
agupt0318
committed
967ad0a
Map secondary ROS domains
agupt0318
committed
6474d0a
Link current architecture maps
agupt0318
committed
772f889
Fix ROS Mermaid compatibility
agupt0318
committed
1ced9f6
Embed codebase map in README
agupt0318
committed
44d23fc
Embed ROS map in README
agupt0318
committed
807d110
Update README.md
agupt0318
authored
d68bcff
Link architecture maps from README
agupt0318
committed
3de939a
Remove inline README diagrams
agupt0318
committed
f66a643

Commits on Sep 10, 2026

Clarify vertical ROS control flow
agupt0318
committed
c42533c
Correct ROS graph against source
agupt0318
committed
867062c
Document ROS simulation boundary
agupt0318
committed
2efc2c2

Commits on Sep 13, 2026

changes before 9/13
akshayarav
committed
159b7b7

Commits on Sep 16, 2026

Add risk-reducing planner transitions
agupt0318
committed
c4c6745
Keep obstacle replanning mobile and collision-safe
agupt0318
committed
de1d219
Add shared rover simulation mesh
agupt0318
committed
43976c4
Add depth-enabled Gazebo obstacle course
agupt0318
committed
9562fb6
Bridge selected drive commands into Gazebo
agupt0318
committed
eac9a1f
Bridge Gazebo odometry into autonomy pose
agupt0318
committed
d02fead
Add simple Gazebo course launcher
agupt0318
committed
b82cdc1
Add simple autonomy simulation launcher
agupt0318
committed
f8cf64a
Document physical obstacle avoidance validation
agupt0318
committed
a8425e6
Ignore generated Gazebo validation artifacts
agupt0318
committed
3fae114
Avoid stopping inside soft costmap inflation
agupt0318
committed
093004e
Raise Gazebo obstacle course camera
agupt0318
committed
643a360
Make costmap projection decisions testable
agupt0318
committed
10fcaeb
Tighten local planner obstacle handling
agupt0318
committed
9606761
Load explicit autonomy waypoint missions
agupt0318
committed
c06fddf
Configure Gazebo stress mission inputs
agupt0318
committed
3cd5c33
Link development and Gazebo onboarding
agupt0318
committed
27cca75
Add portable Gazebo workflow image
agupt0318
committed
40f5609
Define Gazebo obstacle course mission
agupt0318
committed
c14a2eb
Add mixed obstacle stress world
agupt0318
committed
1f99241
Summarize and shorten Gazebo evidence
agupt0318
committed
39ba9b6
Test Gazebo acceptance summary
agupt0318
committed
d09a63c
Arrange Gazebo recording windows
agupt0318
committed
8e1db1f
Codify normal Terra development
agupt0318
committed
44156e7
Codify Terra ROS Python practices
agupt0318
committed
4376948
Codify Terra C++ practices
agupt0318
committed
9f768d6
Codify Terra test and CI workflow
agupt0318
committed
cddf502
Codify Terra Git review workflow
agupt0318
committed
53807df
Automate Gazebo evidence cycle (part 1)
agupt0318
committed
de78ad3
Automate Gazebo evidence cycle (part 2)
agupt0318
committed
5e38f90
Analyze Gazebo obstacle clearance (part 1)
agupt0318
committed
0f211cd
Analyze Gazebo obstacle clearance (part 2)
agupt0318
committed
e70dffc
Check Gazebo obstacle observations (part 1)
agupt0318
committed
6b86546
Check Gazebo obstacle observations (part 2)
agupt0318
committed
59056a2
Show live Gazebo ROS telemetry (part 1)
agupt0318
committed
f2151c8
Show live Gazebo ROS telemetry (part 2)
agupt0318
committed
9d6d061
Show live Gazebo ROS telemetry (part 3)
agupt0318
committed
8f0da54
Add one-command Gazebo runner (part 1)
agupt0318
committed
58f7183
Add one-command Gazebo runner (part 2)
agupt0318
committed
e085fae
Codify Gazebo validation workflow (part 1)
agupt0318
committed
b616e3c
Codify Gazebo validation workflow (part 2)
agupt0318
committed
3cb5bd0
Document normal development workflow (part 1)
agupt0318
committed
c2ba873
Document normal development workflow (part 2)
agupt0318
committed
28ef420
Document normal development workflow (part 3)
agupt0318
committed
2f982c8
Document Gazebo developer onboarding (part 1)
agupt0318
committed
bdd4c95
Document Gazebo developer onboarding (part 2)
agupt0318
committed
6d9da92
Document Gazebo developer onboarding (part 3)
agupt0318
committed
8feedce
Document Gazebo developer onboarding (part 4)
agupt0318
committed
940d565
Document Gazebo validation harness (part 1)
agupt0318
committed
577b907
Document Gazebo validation harness (part 2)
agupt0318
committed
79292a5
Document Gazebo validation harness (part 3)
agupt0318
committed
51d7d93
Document Gazebo validation harness (part 4)
agupt0318
committed
a458aa5
Document Gazebo validation harness (part 5)
agupt0318
committed
4f3fd31
Document Gazebo validation harness (part 6)
agupt0318
committed
37e4892
Document Gazebo validation harness (part 7)
agupt0318
committed
f3f4256
Document Gazebo validation harness (part 8)
agupt0318
committed
3330213
Document Gazebo validation harness (part 9)
agupt0318
committed
8fe60c8
Document Gazebo validation harness (part 10)
agupt0318
committed
9210e08
Document Gazebo validation harness (part 11)
agupt0318
committed
9830746
Document Gazebo validation harness (part 12)
agupt0318
committed
29d955d
Document Gazebo validation harness (part 13)
agupt0318
committed
6aa6711
Record Terra2 development work (part 1)
agupt0318
committed
705479c
Record Terra2 development work (part 2)
agupt0318
committed
cdcc2c6
Record Terra2 development work (part 3)
agupt0318
committed
a886621
Record Terra2 development work (part 4)
agupt0318
committed
07e53a2
Record Terra2 development work (part 5)
agupt0318
committed
aa0f29e
Record Terra2 development work (part 6)
agupt0318
committed
5a5d708
Record Terra2 development work (part 7)
agupt0318
committed
a18d627
Record Terra2 development work (part 8)
agupt0318
committed
951be57
Record Terra2 development work (part 9)
agupt0318
committed
a4930fd
Record Terra2 development work (part 10)
agupt0318
committed
cac1d9b
Record Terra2 development work (part 11)
agupt0318
committed
36a20e5
Record Terra2 development work (part 12)
agupt0318
committed
13d4a74
Record Terra2 development work (part 13)
agupt0318
committed
324cbf2
Record Terra2 development work (part 14)
agupt0318
committed
2864646
Record Terra2 development work (part 15)
agupt0318
committed
c619244
Record Terra2 development work (part 16)
agupt0318
committed
a1b07a7
Record Terra2 development work (part 17)
agupt0318
committed
35323df