l4t infra fixes: aarch64 build args + robot-name resolution - #370
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Foundational real-robot deployment fixes extracted from the OptiTrack emulation PR (#367) so they can be reviewed and merged first; #367 will be rebased on top afterward, shrinking its diff. Docker / ARM build: - Add TARGET_ARCH build arg (default x86_64) to Dockerfile.robot and use it to parametrize LD_LIBRARY_PATH, so the aarch64 (Jetson/l4t, voxl) images link against the correct arch triplet. - docker-compose.yaml passes TARGET_ARCH: aarch64 to the voxl and l4t image builds. - Install ros-${ROS_DISTRO}-mavros-extras (generic dep; also provides the vision_pose plugin used by external-pose deployments). Robot name resolution: - .bashrc now honors a pre-set ROBOT_NAME (e.g. injected by docker compose) instead of always overriding it from the container/hostname mapping. The bws() flock build lock is retained. - default_robot_name_map.yaml catch-all fallback maps to unknown_robot (valid ROS namespace token) instead of unknown-robot. Version bumped 0.19.0-alpha.5 -> 0.19.0-alpha.6 for the version-increment gate. Note: the trajectory_controller/trajectory_library robustness fixes originally listed for extraction are already present on develop (PR #365), so they are not included here. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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JohnYanxinLiu
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…e resolution
Parametrize the robot-l4t compose service so a single service covers real
deployments without editing compose:
- AUTONOMY_ROLE and FCU_URL are now ${VAR:-default} overridable (and FCU_URL is
unquoted so the literal serial path reaches mavros).
- Rosbag output path is BAG_STORAGE_PATH-overridable.
Update the configure-multi-robot skill to reflect the honor-pre-set-ROBOT_NAME
guard (#370): document pinning ROBOT_NAME in an override for a single real robot,
the never-on-the-shared-service caveat, and the unknown_robot fallback fixes by
topology.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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…rdware (#371) * feat(l4t): make robot-l4t deployment knobs overridable + document name resolution Parametrize the robot-l4t compose service so a single service covers real deployments without editing compose: - AUTONOMY_ROLE and FCU_URL are now ${VAR:-default} overridable (and FCU_URL is unquoted so the literal serial path reaches mavros). - Rosbag output path is BAG_STORAGE_PATH-overridable. Update the configure-multi-robot skill to reflect the honor-pre-set-ROBOT_NAME guard (#370): document pinning ROBOT_NAME in an override for a single real robot, the never-on-the-shared-service caveat, and the unknown_robot fallback fixes by topology. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * feat(l4t): add site-agnostic l4t-px4-realrobot override template Deployment override for a single real PX4 robot on a Jetson (aarch64/l4t). Surfaces the common knobs at the top with sensible defaults: ROBOT_NAME pinned directly (single-robot shortcut honored by .bashrc), FCU_URL, AUTONOMY_ROLE, BAG_STORAGE_PATH, and RECORD_BAGS. Mocap-agnostic — NatNet/external-vision settings are added by a separate optitrack override. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * fix(l4t): entrypoint passthrough + ZED SDK 5.2; document build gotchas Two real-hardware build fixes for the Jetson profile: - Dockerfile.l4t-stack-base: overwrite dustynv's /ros_entrypoint.sh with an `exec "$@"` passthrough. Its prebuilt source-ROS libs (fastcdr 2.2.5) were shadowing the apt Jazzy (2.2.7) that Dockerfile.robot layers on, crashing apt-built nodes like mavros with symbol-lookup errors under tmux autolaunch. - zed/Dockerfile.zed-l4t: bump ZED SDK 4.2 -> 5.2 and move the coupled ROS deps together (zed_msgs 5.2.1, point_cloud_transport(_plugins) 4.x, add backward_ros). Document both gotchas in the docker-build-profiles skill, and correct the stale unknown-robot -> unknown_robot in the robot_identity reference doc. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * chore: bump version to 0.19.0-alpha.7 Version-increment gate: bump above develop's 0.19.0-alpha.6 and record the l4t deployment changes in the changelog. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> --------- Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com>
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#372) * feat(l4t): make robot-l4t deployment knobs overridable + document name resolution Parametrize the robot-l4t compose service so a single service covers real deployments without editing compose: - AUTONOMY_ROLE and FCU_URL are now ${VAR:-default} overridable (and FCU_URL is unquoted so the literal serial path reaches mavros). - Rosbag output path is BAG_STORAGE_PATH-overridable. Update the configure-multi-robot skill to reflect the honor-pre-set-ROBOT_NAME guard (#370): document pinning ROBOT_NAME in an override for a single real robot, the never-on-the-shared-service caveat, and the unknown_robot fallback fixes by topology. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * feat(l4t): add site-agnostic l4t-px4-realrobot override template Deployment override for a single real PX4 robot on a Jetson (aarch64/l4t). Surfaces the common knobs at the top with sensible defaults: ROBOT_NAME pinned directly (single-robot shortcut honored by .bashrc), FCU_URL, AUTONOMY_ROLE, BAG_STORAGE_PATH, and RECORD_BAGS. Mocap-agnostic — NatNet/external-vision settings are added by a separate optitrack override. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * fix(l4t): entrypoint passthrough + ZED SDK 5.2; document build gotchas Two real-hardware build fixes for the Jetson profile: - Dockerfile.l4t-stack-base: overwrite dustynv's /ros_entrypoint.sh with an `exec "$@"` passthrough. Its prebuilt source-ROS libs (fastcdr 2.2.5) were shadowing the apt Jazzy (2.2.7) that Dockerfile.robot layers on, crashing apt-built nodes like mavros with symbol-lookup errors under tmux autolaunch. - zed/Dockerfile.zed-l4t: bump ZED SDK 4.2 -> 5.2 and move the coupled ROS deps together (zed_msgs 5.2.1, point_cloud_transport(_plugins) 4.x, add backward_ros). Document both gotchas in the docker-build-profiles skill, and correct the stale unknown-robot -> unknown_robot in the robot_identity reference doc. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * chore: bump version to 0.19.0-alpha.7 Version-increment gate: bump above develop's 0.19.0-alpha.6 and record the l4t deployment changes in the changelog. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * test(infra): collect co-located unit tests via the package list + integration tier Unit tests are defined by tests/colcon_unit_test_packages.yaml: conftest.py resolves each listed package to its <pkg>/test dir and collects the non-linter test_*.py files under --import-mode=importlib (set in pytest.ini), marking each `unit` by path. ament lint files are skipped (they run under colcon test). Removes two now-unnecessary files under tests/robot/; the package test/ dirs are collected directly. Also add an integration test tier: tests/integration/ + `integration` mark + a shared robot_autonomy_stack fixture (robot-desktop container, no sim/GPU), slotted into _MODULE_ORDER between build_packages and the sim tiers. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * docs(testing): describe unit tests as co-located and listed in the package YAML Update the add-unit-tests and run-system-tests skills, AGENTS.md, and the unit-testing docs: adding a unit test is "list the package in colcon_unit_test_packages.yaml", and the source lives in the package's own test/ dir. Document the `integration` mark/tier. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * chore: bump version to 0.19.0-alpha.8 Version-increment gate: bump above develop (0.19.0-alpha.6); alpha.7 is taken by the l4t-deployment-fix PR. Record the test-infra changes in the changelog. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * refactor(tests): split unit-test discovery + session state into tests/harness/ Begin modularizing conftest.py (959 lines) by concern. Extract two self-contained pieces into a new tests/harness/ package: - harness/session.py: session-scoped mutable state (results dir, current pytest item, last subprocess output, logger) with setter/getter accessors. Hooks write it; helpers read it, so helper modules no longer reach into conftest globals. - harness/discovery.py: unit-test discovery driven by colcon_unit_test_packages.yaml (repo_path, load_colcon_unit_test_config, colcon_test_robot_command, unit_test_dirs, unit_test_files, _is_unit_item). conftest.py imports from harness and its hooks delegate to the session accessors; it re-exports AIRSTACK_ROOT / colcon_test_robot_command / load_colcon_unit_test_config / logger so existing `from conftest import ...` in the system tests keeps working unchanged. Behavior-preserving (host-validated): `-m unit` still 14 passed / 152 deselected, 166 collected, same order. Follow-on: the commands/containers/metrics/sim helpers and collection ordering move out the same way. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * refactor(tests): extract commands/containers/metrics/sim helpers into tests/harness/ Continue modularizing conftest.py. Move the subprocess/ros2 command helpers (harness/commands.py), docker container + compute-usage + image helpers (harness/containers.py), MetricsRecorder + get_metrics/current_test_id (harness/metrics.py), and the sim target configs + ros2 topic sampling (harness/sim.py) out of conftest.py. conftest.py drops from 836 to 360 lines and re-exports the harness helper API (`from harness import *`) so `from conftest import <name>` in the system tests + sensor_probes keeps working unchanged. Behavior-preserving: -m unit still 14 passed / 152 deselected, 166 collected, same order. Remaining in conftest: pytest hooks, collection ordering, and the airstack_env / robot_autonomy_stack fixtures. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * refactor(tests): extract collection ordering into tests/harness/collection.py Final step of the conftest.py modularization: move test ordering — _MODULE_ORDER, the per-module phase chains, _module_key, and the parametrize-id rewrite — into harness/collection.py. conftest's pytest_collection_modifyitems hook now delegates to collection.modify_items(items). conftest.py is now 246 lines (from 959): pytest hooks + the airstack_env / robot_autonomy_stack fixtures. All helpers live in tests/harness/ by concern (session, discovery, commands, containers, metrics, sim, collection). Behavior-preserving: -m unit still 14 passed / 152 deselected, 166 collected, unit → build → integration → sim order unchanged. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Also sync docs/skills to the tests/harness/ layout (AGENTS.md, tests/README.md, tests/integration/README.md, run-system-tests + add-unit-tests skills, unit_testing + end_to_end_testing docs): helpers, MetricsRecorder, the workspace globs, and _MODULE_ORDER now point at tests/harness/ instead of conftest.py (still re-exported via conftest). Co-authored-by: Cursor <cursoragent@cursor.com> * fix(robot): pin pytest to 7.4.* so apt launch_pytest stays compatible The builder-stage pip block pulled pytest >=8 transitively into /usr/local (copied into the runtime image), shadowing Jazzy's apt python3-pytest 7.4. pytest 8 removed the `path` argument from pytest_pycollect_makemodule, which apt's launch_pytest plugin still declares — so every pytest invocation in the robot container aborted at plugin registration. This broke `colcon test` for ament_python packages (e.g. lidar_point_cloud_filter in test_colcon_test_robot), while ament_cmake gtest packages were unaffected. Pin pytest to Jazzy's version so the container is internally consistent and launch_testing / launch_pytest remain usable for future launch-based tests. The test runner (tests/docker) is a separate interpreter and keeps its newer pytest. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * fix(isaac-sim): clear LD_LIBRARY_PATH for PX4 ubuntu.sh so ca-certificates configures The global ENV LD_LIBRARY_PATH puts isaac-sim's bundled libs (.../isaacsim.ros2.bridge/jazzy/lib) on the linker path. Its older libcrypto.so.3 shadows the system one, so when the updated ca-certificates (20240203 → 20260601~24.04.1) runs its postinst `openssl`, it fails with `version 'OPENSSL_3.0.9' not found`, aborting the apt transaction and failing the isaac-sim image build (PX4 Tools/setup/ubuntu.sh, exit 100). Clear LD_LIBRARY_PATH for that RUN only so apt/openssl use the system libcrypto; the global ENV still applies to every other layer. Environmental break (new ca-certificates × isaac-sim's stale bundled openssl) — not a code regression. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> --------- Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com> Co-authored-by: Cursor <cursoragent@cursor.com>
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What features did you add and/or bugs did you address?
Which GitHub issue does this address?
No dedicated issue. This is a foundational infra PR extracted from Johnliu/optitrack emulation #367 (OptiTrack emulation) so the generic real-robot deployment fixes can be reviewed and merged first; Johnliu/optitrack emulation #367 is then rebased on top, shrinking its diff. It also unblocks the upcoming l4t (Jetson) profile work.
Additional description if not fully described in the GitHub issue
Two independent concerns, both generic (nothing OptiTrack-specific):
1. aarch64 (Jetson/l4t, voxl) image builds
Dockerfile.robot: addARG TARGET_ARCH=x86_64and use it to parametrizeLD_LIBRARY_PATH(.../lib/${TARGET_ARCH}-linux-gnu) so the arm64 images link against the correct arch triplet instead of the hard-codedx86_64.Dockerfile.robot: installros-${ROS_DISTRO}-mavros-extras(generic MAVROS dependency; also provides thevision_poseplugin used by external-pose deployments).docker-compose.yaml: passTARGET_ARCH: aarch64to thevoxlandl4timage builds.2. Robot name resolution ("robot launches with no name" bug)
.bashrc: honor a pre-setROBOT_NAME(e.g. injected via docker compose) instead of always overriding it from the container/hostname mapping. Thebws()flockbuild lock is retained.default_robot_name_map.yaml: catch-all fallback maps tounknown_robot(a valid ROS namespace token) instead ofunknown-robot(a hyphen makes the namespace invalid and launch fails).Please add videos and images to demonstrate the feature.
N/A — build-arg + shell/config changes, no runtime UI.
How did you implement it?
TARGET_ARCHdefaults tox86_64, so the desktop/CI build is byte-for-byte unchanged; only thevoxl/l4tservices opt intoaarch64.if [ -z "${ROBOT_NAME:-}" ]; then ... fi) wrapped around the existing container/hostname mapping block — no behavior change whenROBOT_NAMEis unset.How do you run and use it?
ROBOT_NAMEis honored:Testing with PyTest
build_packages/build_dockersuites exercise the affected Dockerfile/compose.airstack test -m "build_docker or build_packages" -vTARGET_ARCHdefault keeps the x86 build identical todevelop.Documentation
CHANGELOG.mdupdated.Versioning
.envVERSION0.19.0-alpha.5→0.19.0-alpha.6per semantic versioning (trailing alpha label increment). CHANGELOG[Unreleased]updated.Generated with Claude Code