Fix full-stack launch: MAVROS fcu_url + plugin_allowlist, timestamped bag dir, BEST_EFFORT QoS on MAVROS subs, battery<0 unknown guard

- rov_full.launch.py: fcu_url to udp://@<ip>:14550 (was bad local bind); add plugin_allowlist (sys_status,sys_time,command,imu,global_position,setpoint_velocity) to stop duplicate-subscription crash on companion_process_status/debug_value
- foxglove_mcap.launch.py: timestamp bag output dir (was fixed /data/bags/dive, failed on second launch)
- failsafe_monitor/depth_node/state_estimator: qos_profile_sensor_data on MAVROS-sourced subs (MAVROS publishes BEST_EFFORT; default RELIABLE blocked all messages)
- failsafe_monitor: treat battery_percent<0 as UNKNOWN not critical (SITL has no battery; was forcing permanent EMERGENCY_SURFACE)

src/rov_bringup/launch/foxglove_mcap.launch.py

@@ -14,6 +14,7 @@ Storage:
   Bags written to /data/bags/ on NVMe. Create before first launch:
     sudo mkdir -p /data/bags && sudo chown ubuntu:ubuntu /data/bags
 """
+import datetime
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, ExecuteProcess, LogInfo
 from launch.conditions import IfCondition
@@ -25,7 +26,7 @@ def generate_launch_description():
 
     bag_output_arg = DeclareLaunchArgument(
         'bag_output_dir',
-        default_value='/data/bags/dive',
+        default_value='/data/bags/dive_' + datetime.datetime.now().strftime('%Y_%m_%d-%H_%M_%S'),
         description='Base path for MCAP bag. Timestamp appended automatically.',
     )
 

src/rov_bringup/launch/rov_full.launch.py

@@ -45,10 +45,11 @@ def generate_launch_description():
             name='mavros',
             output='screen',
             parameters=[{
-                'fcu_url': ['udp://', LaunchConfiguration('blueos_ip'), ':14550@14555'],
+                'fcu_url': ['udp://@', LaunchConfiguration('blueos_ip'), ':14550'],
                 'gcs_url': '',
                 'target_system_id': 1,
                 'target_component_id': 1,
+                'plugin_allowlist': ['sys_status', 'sys_time', 'command', 'imu', 'global_position', 'setpoint_velocity'],
             }],
         ),
 

src/rov_control/rov_control/failsafe_monitor.py

@@ -36,6 +36,7 @@ Topics published:
 import rclpy
 from rclpy.node import Node
 from rclpy.duration import Duration
+from rclpy.qos import qos_profile_sensor_data
 from std_msgs.msg import Bool, Float32
 from sensor_msgs.msg import BatteryState
 from mavros_msgs.msg import State
@@ -144,15 +145,15 @@ class FailsafeMonitor(Node):
 
         self.create_subscription(
             BatteryState, '/mavros/battery',
-            self._battery_callback, 10)
+            self._battery_callback, qos_profile_sensor_data)
 
         self.create_subscription(
             State, '/mavros/state',
-            self._state_callback, 10)
+            self._state_callback, qos_profile_sensor_data)
 
         self.create_subscription(
             Float32, '/mavros/global_position/rel_alt',
-            self._altitude_callback, 10)
+            self._altitude_callback, qos_profile_sensor_data)
 
         self.create_subscription(
             Bool, '/rov/mission/abort',
@@ -266,9 +267,17 @@ class FailsafeMonitor(Node):
 
         # --- Battery ---
         pct = self.battery_percent
-        self.flag_emergency_battery = pct < self._battery_emerg_pct
+        if pct < 0.0:
-        self.flag_critical_battery  = pct < self._battery_critical_pct
+            # Negative percentage = no valid battery telemetry (e.g. SITL with
-        self.flag_low_battery       = pct < self._battery_return_pct
+            # no simulated battery). Treat as UNKNOWN, not critically low —
+            # do not trip battery failsafes on absent data.
+            self.flag_emergency_battery = False
+            self.flag_critical_battery  = False
+            self.flag_low_battery       = False
+        else:
+            self.flag_emergency_battery = pct < self._battery_emerg_pct
+            self.flag_critical_battery  = pct < self._battery_critical_pct
+            self.flag_low_battery       = pct < self._battery_return_pct
 
         # --- Depth ---
         d = self.current_depth_m
@@ -376,7 +385,8 @@ class FailsafeMonitor(Node):
             return
 
         # Priority 8: Low battery warning — informational only
-        if self.battery_percent < self._battery_warning_pct:
+        # (skip when battery_percent < 0: no valid telemetry, e.g. SITL)
+        if 0.0 <= self.battery_percent < self._battery_warning_pct:
             self.get_logger().warn(
                 f'Battery warning: {self.battery_percent*100:.0f}% — '
                 'complete current task, no new panels'

src/rov_navigation/rov_navigation/depth_node.py

@@ -12,6 +12,7 @@ Topics published:
 
 import rclpy
 from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
 from std_msgs.msg import Float64
 
 
@@ -23,7 +24,7 @@ class DepthNode(Node):
 
         self.sub = self.create_subscription(
             Float64, '/mavros/global_position/rel_alt',
-            self.alt_callback, 10)
+            self.alt_callback, qos_profile_sensor_data)
 
         self.pub = self.create_publisher(Float64, '/rov/depth', 10)
 

src/rov_navigation/rov_navigation/state_estimator.py

@@ -15,6 +15,7 @@ Topics published:
 
 import rclpy
 from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
 from sensor_msgs.msg import Imu
 from nav_msgs.msg import Odometry
 from std_msgs.msg import Float64
@@ -34,7 +35,7 @@ class StateEstimator(Node):
 
         # --- Subscribers ---
         self.imu_sub = self.create_subscription(
-            Imu, '/imu/data', self.imu_callback, 10)
+            Imu, '/imu/data', self.imu_callback, qos_profile_sensor_data)
         self.depth_sub = self.create_subscription(
             Float64, '/rov/depth', self.depth_callback, 10)