4e48dc2c53
Add ModeProfile.msg (atomic resolved flag set) to rov_interfaces. Add mode_profile_loader node + config/mode_profiles.yaml to rov_mission: ROV/AUV profiles plus custom/hybrid Save As, published latched on /rov/mode/profile, reloadable via /rov/mode/reload service. cockpit_bridge subscribes and surfaces flags to the Cockpit data lake as external/rov-*. Single source of truth; widgets read flags, not modes. Verified end-to-end: ROV and AUV resolve correctly and live reload works. Refs DIR-1/2 (ROV/AUV duality), DIR-9 (amended: ARM-bounded recording), DIR-10.
37 lines
1.3 KiB
Python
37 lines
1.3 KiB
Python
from setuptools import setup
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import os
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from glob import glob
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package_name = 'rov_mission'
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setup(
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name=package_name,
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version='0.1.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
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(os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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entry_points={
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'console_scripts': [
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# Mission state machine — waypoint sequencing, failsafe integration
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'mission_executor = rov_mission.mission_executor:main',
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# Cockpit data bridge — ROS2 topics -> WebSocket -> Cockpit data lake
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'cockpit_bridge = rov_mission.cockpit_bridge:main',
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# Continuous MCAP recorder — DIR-9 foundational node
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# Must be active before any mission can start (no-go gate)
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'recording_manager = rov_mission.recording_manager:main',
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# Mode profile loader — reads mode_profiles.yaml, publishes the
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# resolved active profile (ROV/AUV/hybrid) on /rov/mode/profile
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'mode_profile_loader = rov_mission.mode_profile_loader:main',
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],
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},
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)
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