Generic robot infra: aarch64 build args + robot-name resolution fixes#369
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JohnYanxinLiu wants to merge 1 commit into
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Generic robot infra: aarch64 build args + robot-name resolution fixes#369JohnYanxinLiu wants to merge 1 commit into
JohnYanxinLiu wants to merge 1 commit into
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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-${ROS_DISTRO}-mavros-extras (generic dep; also provides the vision_pose plugin used by external-pose deployments). Robot name resolution: - .bashrc now honors a pre-set ROBOT_NAME (e.g. injected by docker compose) instead of always overriding it from the container/hostname mapping. The bws() flock build lock is retained. - default_robot_name_map.yaml catch-all fallback maps to unknown_robot (valid ROS namespace token) instead of unknown-robot. Version bumped 0.19.0-alpha.5 -> 0.19.0-alpha.6 for the version-increment gate. Note: the trajectory_controller/trajectory_library robustness fixes originally listed for extraction are already present on develop (PR #365), so they are not included here. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Superseded by #370 (branch renamed |
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Foundational real-robot deployment fixes extracted from the OptiTrack emulation PR (#367) so they can be reviewed and merged first; #367 will be rebased on top afterward, shrinking its diff.
Changes (6 files)
Docker / ARM build
Dockerfile.robot: addTARGET_ARCHbuild arg (defaultx86_64) and use it to parametrizeLD_LIBRARY_PATH, so the aarch64 (Jetson/l4t, voxl) images link against the correct arch triplet.docker-compose.yaml: passTARGET_ARCH: aarch64to thevoxlandl4timage builds.ros-${ROS_DISTRO}-mavros-extras(generic dep; also provides thevision_poseplugin used by external-pose deployments).Robot name resolution
.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(valid ROS namespace token) instead ofunknown-robot.Version
0.19.0-alpha.5→0.19.0-alpha.6(version-increment gate) + CHANGELOG entries.Notes
trajectory_controller/trajectory_libraryrobustness fixes originally listed for extraction are already present ondevelop(PR Add fixed-trajectory system tests with cross-track error metrics #365), so they are not included here.developafter this merges; Johnliu/optitrack emulation #367 then bumps toalpha.7.🤖 Generated with Claude Code