Organize topics under local namespaces (#44)

* Delete deprecated extension

* Rename to better reflect purpose

* Organize launches into bringup packages with namespacing

* Unify launch files format

* Fix launch paths

* Remove zed-ros2-wrapper submodule for now

* Move out robot_interface stuff

* Nominally fix all topic subscriptions under new organization

* Nominally open the spirit uav USD from nucleus by default, so that it automatically connects

* Remove hard coded global topics from source files; instead, use remap in launch files

* Update tf_relay to have easy launch file

* Move tf_relay to robot/autonomy/0_interface

* Change topic namespacing organization to be based on node name

* Remove old file

* Update SITL mavros to publish to ROBOT_NAME/interface/mavros

* Update mesh path for propeller

* Remap services

* Update topic for image

* Remove scratch file

* Resolve error by adding apt update

* Fix mismatched topics

* Enable pass colcon args to bws

* Autoformat

* Add topictools to dockerfile

* Add more comment

* Replace tf_relay with topic_tools relay

* Rename variable and make print statements nicer

* Move odometry_conversion to autonomy.launch

* Remove robot name from TFs

* Remove no longer used static tf publishers

* Shut up rviz, only print error messages

* Fix ns error when waypoints size = 0

* Clarify variable name

* Fix flickering bug with Isaac, make markers set time 0.3 seconds earlier

* Add transform from map_FLU to map (ENU)

* Simplify odometry_conversion launch to only necessary parameters

* Fix bug, properly enable use_sim_time true for mavros

* updated rviz config

---------

Co-authored-by: John Keller <[email protected]>

.gitmodules

@@ -15,6 +15,3 @@
 [submodule "ros_ws/src/robot/autonomy/world_model/mapping/vdb_mapping_ros2"]
 	path = ros_ws/src/robot/autonomy/4_global/a_world_models/vdb_mapping_ros2
 	url = https://github.com/fzi-forschungszentrum-informatik/vdb_mapping_ros2
-[submodule "ros_ws/src/robot/autonomy/1_sensors/zed-ros2-wrapper"]
-	path = ros_ws/src/robot/autonomy/1_sensors/zed-ros2-wrapper
-	url = https://github.com/stereolabs/zed-ros2-wrapper.git

docker/airstack-dev.dockerfile

@@ -21,12 +21,13 @@ RUN rosdep init && rosdep update && \
     rm -rf /tmp/ros_ws || echo "Some ROS dependencies installation failed"
 
 # Install any additional ROS2 packages
-RUN apt install -y \
+RUN apt update -y && apt install -y \
     ros-dev-tools \
     ros-humble-mavros \ 
     ros-humble-tf2* \
     ros-humble-stereo-image-proc \
-    ros-humble-image-view
+    ros-humble-image-view \
+    ros-humble-topic-tools
 
 RUN /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh