refactor!: run on the dharma packages

.github/scripts/check_people_model.py

@@ -16,8 +16,8 @@ def main(model: str, image: str, backends: list[str]) -> int:
     try:
         import cv2
 
-        sys.path.insert(0, 'src/robot_perception')
-        from robot_perception.detector import OnnxPersonDetector
+        sys.path.insert(0, 'src/pashupati_perception')
+        from pashupati_perception.detector import OnnxPersonDetector
     except Exception:  # noqa: B902  the environment itself is broken: say how
         annotate('error', 'imports', traceback.format_exc()[-1500:])
         return 1

.github/workflows/ci.yml

@@ -16,8 +16,8 @@ env:
   ROSDEP_SKIP: >-
     livox_ros_driver2 fast_lio legkilo apriltag_draw
   PACKAGES: >-
-    robot_interfaces robot_odometry robot_localization robot_perception robot_navigation
-    robot_bridge robot_fleet robot_inspection robot_health robot_rviz pashupati robot_sim
+    pashupati_perception robot_bridge robot_fleet robot_inspection robot_health robot_rviz
+    pashupati robot_sim
 
 jobs:
   scripts:
@@ -87,6 +87,15 @@ jobs:
         shell: bash
     steps:
       - uses: actions/checkout@v4   # no submodules: they need SSH keys and vendor SDKs
+      - name: Dharma packages
+        env:
+          # the dharma repos are private: a fine-grained token with read access to them
+          DHARMA_TOKEN: ${{ secrets.DHARMA_TOKEN }}
+        run: |
+          apt-get update && apt-get install -y python3-vcstool git
+          git config --global url."https://x-access-token:${DHARMA_TOKEN}@github.com/".insteadOf \
+            "git@github.com:"
+          vcs import src < pashupati.repos
       - name: Dependencies
         run: |
           apt-get update
@@ -96,7 +105,7 @@ jobs:
       - name: Build
         run: |
           source /opt/ros/humble/setup.bash
-          colcon build --packages-select $PACKAGES --event-handlers console_cohesion+
+          colcon build --packages-up-to $PACKAGES --event-handlers console_cohesion+
       - name: Test
         run: |
           source /opt/ros/humble/setup.bash
@@ -118,7 +127,7 @@ jobs:
           source /opt/ros/humble/setup.bash
           source install/setup.bash
           ros2 launch pashupati robot.launch.py --show-args > /dev/null
-          ros2 launch robot_odometry odometry.launch.py --show-args > /dev/null
+          ros2 launch dharma_odometry odometry.launch.py --show-args > /dev/null
           ros2 launch robot_sim sim.launch.py --show-args > /dev/null
       - name: Test reports
         if: always()

.github/workflows/people-model.yml

@@ -9,7 +9,7 @@ on:
   push:
     branches: [dev]
     paths:
-      - src/robot_perception/robot_perception/detector.py
+      - src/pashupati_perception/pashupati_perception/detector.py
       - .github/scripts/check_people_model.py
       - .github/workflows/people-model.yml
   workflow_dispatch:

.gitignore

@@ -38,4 +38,7 @@ desktop.ini
 .cache/
 __MACOSX/
 
-.vscode/settings.json
+.vscode/settings.json
+
+# ---- dharma packages (vcs import src < pashupati.repos) ----
+src/dharma/

CONTRIBUTING.md

@@ -48,7 +48,7 @@ pure-logic tests also run with plain `pytest` on a laptop.
   `OPENBLAS_NUM_THREADS=1`.
 - **No per-element Python objects at sensor rate.** rclpy builds one object per element of a
   message array (a Livox CustomMsg has ~20k points): read big messages as numpy straight from the
-  buffer (`PointCloud2.data`, or `raw=True` and the CDR bytes, see `robot_perception/livox_cdr.py`).
+  buffer (`PointCloud2.data`, or `raw=True` and the CDR bytes, see `pashupati_perception/livox_cdr.py`).
 - **Subscribe to heavy topics only while someone uses them** (the teleop camera and cloud).
 - **Validate everything from the network** (teleop UDP, NETRA commands, spool files): clamp
   numbers, reject non-finite values, keep file paths inside their directory, never raise in a

README.md

@@ -132,11 +132,11 @@ flowchart LR
 
 | Package | Role |
 |---|---|
-| [`robot_interfaces`](src/robot_interfaces) | messages and services |
-| [`robot_odometry`](src/robot_odometry) | LiDAR-inertial odometry (FAST-LIO2 or Leg-KILO), stillness gate, odometry monitor, route recording |
-| [`robot_localization`](src/robot_localization) | FAST-LIO frame bridge, `map→odom` from AprilTags / RViz, tag recording |
-| [`robot_perception`](src/robot_perception) | LiDAR sectors, AprilTag, person detection (YOLO11n ONNX) |
-| [`robot_navigation`](src/robot_navigation) | route processing, 5 controllers, 4 avoidance algorithms, final approach, safety |
+| [`dharma_interfaces`](src/dharma_interfaces) | messages and services |
+| [`dharma_odometry`](src/dharma_odometry) | LiDAR-inertial odometry (FAST-LIO2 or Leg-KILO), stillness gate, odometry monitor, route recording |
+| [`dharma_localization`](src/dharma_localization) | FAST-LIO frame bridge, `map→odom` from AprilTags / RViz, tag recording |
+| [`pashupati_perception`](src/pashupati_perception) | LiDAR sectors, AprilTag, person detection (YOLO11n ONNX) |
+| [`dharma_navigation`](src/dharma_navigation) | route processing, 5 controllers, 4 avoidance algorithms, final approach, safety |
 | [`robot_bridge`](src/robot_bridge) | AUTO / REMOTE control mux, UDP teleop gateway ([protocol](src/robot_bridge/PROTOCOL.md)), WebRTC video |
 | [`robot_fleet`](src/robot_fleet) | NETRA uplink: telemetry, events, crowd, anomalies, routes ([API](src/robot_fleet/API.md)) |
 | [`robot_inspection`](src/robot_inspection) | VLM inspection (Ollama): continuous, interval queue or stop points, own finding types |
@@ -255,7 +255,7 @@ pnode robot_bridge teleop_udp_node bridge_params.yaml   # one node, as robot.lau
   **Start**), or by hand:
 
 ```bash
-ros2 service call /navigation/load_path robot_interfaces/srv/LoadPath "{waypoints_file: '/home/robot/dev/Pashupati/map/<date>/<time>_path.csv'}"
+ros2 service call /navigation/load_path dharma_interfaces/srv/LoadPath "{waypoints_file: '/home/robot/dev/Pashupati/map/<date>/<time>_path.csv'}"
 ros2 service call /navigation/start_nav std_srvs/srv/SetBool "{data: true}"
 ```
 
@@ -312,11 +312,11 @@ the tuned values with **Save YAML**.
 | Service | Type | Node |
 |---|---|---|
 | `/route/record` | `std_srvs/SetBool` | route_recorder_node |
-| `/route/mark_stop_point` | `robot_interfaces/MarkStopPoint` | route_recorder_node |
+| `/route/mark_stop_point` | `dharma_interfaces/MarkStopPoint` | route_recorder_node |
 | `/localization/start`, `/localization/record_tags` | `std_srvs/Trigger` | localization_node |
-| `/navigation/load_path` | `robot_interfaces/LoadPath` | path_loader_node |
+| `/navigation/load_path` | `dharma_interfaces/LoadPath` | path_loader_node |
 | `/navigation/start_nav`, `/navigation/pause` | `std_srvs/SetBool` | path_follower_node |
-| `/bridge/set_mode` | `robot_interfaces/SetMode` | control_mux_node |
+| `/bridge/set_mode` | `dharma_interfaces/SetMode` | control_mux_node |
 | `/bridge/estop` | `std_srvs/SetBool` (`true` engages, `false` releases) | control_mux_node |
 | `/anomaly_detector_node/check_now` | `std_srvs/Trigger` | anomaly_detector_node |
 | `/<robot_ns>/<command>` | `std_srvs/Trigger` | robot driver ([contract](src/xtras/README.md)) |
@@ -337,11 +337,11 @@ the tuned values with **Save YAML**.
 | `/odometry/status` | `std_msgs/String` (latched) | odometry_monitor_node |
 | `/odometry/restarted` | `std_msgs/Empty` | odometry_monitor_node |
 | `/localization/status` | `std_msgs/String` (latched) | localization_node |
-| `/navigation/waypoints` | `robot_interfaces/WaypointPath` (latched) | path_loader_node |
-| `/navigation/status`, `/navigation/mission_status`, `/navigation/stop_point_event` | robot_interfaces | path_follower_node |
+| `/navigation/waypoints` | `dharma_interfaces/WaypointPath` (latched) | path_loader_node |
+| `/navigation/status`, `/navigation/mission_status`, `/navigation/stop_point_event` | dharma_interfaces | path_follower_node |
 | `/navigation/markers`, `/navigation/route_markers`, `/navigation/avoidance_markers` | `MarkerArray` | navigation |
-| `/perception/sector_scan` | `robot_interfaces/SectorScan` | lidar_sector_node |
-| `/perception/safety_scan` | `robot_interfaces/SectorScan` (360°, all blocked when the LiDAR is blind) | lidar_sector_node |
+| `/perception/sector_scan` | `dharma_interfaces/SectorScan` | lidar_sector_node |
+| `/perception/safety_scan` | `dharma_interfaces/SectorScan` (360°, all blocked when the LiDAR is blind) | lidar_sector_node |
 | `/perception/people`, `/perception/people_status` | `geometry_msgs/PoseArray`, `std_msgs/String` (JSON, latched) | person_detector_node |
 | `/anomaly_detector/result`, `/anomaly_detector/status` | `std_msgs/String` (JSON; status latched) | anomaly_detector_node |
 | `/health/status` | `std_msgs/String` (JSON, latched) | health_monitor_node |

docs/pdf/build.py

@@ -31,12 +31,12 @@
 
 # Config files of the parameter reference, in reading order: (package, file, what it covers)
 PARAMETER_FILES = [
-    ('robot_navigation', 'navigation_params.yaml', 'route following, avoidance, stops'),
+    ('pashupati', 'navigation_params.yaml', 'route following, avoidance, stops'),
     ('robot_bridge', 'bridge_params.yaml', 'control mux, protective field, handheld, video'),
-    ('robot_perception', 'perception_params.yaml', 'LiDAR sectors, people, AprilTags'),
-    ('robot_localization', 'localization_params.yaml', 'map frame from AprilTags'),
+    ('pashupati', 'perception_params.yaml', 'LiDAR sectors, people, AprilTags'),
+    ('pashupati', 'localization_params.yaml', 'map frame from AprilTags'),
     ('robot_inspection', 'inspection_params.yaml', 'AI inspection'),
-    ('robot_odometry', 'odometry_params.yaml', 'odometry start, monitor, route recording'),
+    ('pashupati', 'odometry_params.yaml', 'odometry start, monitor, route recording'),
     ('robot_health', 'health_params.yaml', 'health monitor'),
     ('robot_fleet', 'fleet_params.yaml', 'NETRA uplink'),
 ]

pashupati.repos

@@ -0,0 +1,22 @@
+# Dharma packages Pashupati runs on: vcs import src < pashupati.repos
+repositories:
+  dharma/dharma_interfaces:
+    type: git
+    url: git@github.com:DarmawanRobotics/dharma_interfaces.git
+    version: dev
+  dharma/dharma_odometry:
+    type: git
+    url: git@github.com:DarmawanRobotics/dharma_odometry.git
+    version: dev
+  dharma/dharma_localization:
+    type: git
+    url: git@github.com:DarmawanRobotics/dharma_localization.git
+    version: dev
+  dharma/dharma_navigation:
+    type: git
+    url: git@github.com:DarmawanRobotics/dharma_navigation.git
+    version: dev
+  dharma/dharma_perception:
+    type: git
+    url: git@github.com:DarmawanRobotics/dharma_perception.git
+    version: dev

script/setup.sh

@@ -7,7 +7,7 @@
 #   script/setup.sh install livox build  # install only these
 #   script/setup.sh install all          # every component, including ros and service
 #
-# Components: ros tools submodules livox robot legkilo rosdep realsense webrtc ollama people_model
+# Components: ros tools submodules dharma livox robot legkilo rosdep realsense webrtc ollama people_model
 #             build config service network
 # Settings come from the environment, then from /etc/pashupati/pashupati.env (ROBOT_SETUP,
 # ROBOT_IP, PEOPLE, INSPECTION, ...): no need to source it first.
@@ -64,9 +64,9 @@ BUILD_STAMP="$ROOT/install/.pashupati_build"
 UVC_BLACKLIST=/etc/modprobe.d/blacklist-uvcvideo-realsense.conf
 REALSENSE_BLACKLIST_UVC="${REALSENSE_BLACKLIST_UVC:-$([[ "$(uname -m)" == aarch64 ]] && echo 1 || echo 0)}"
 
-ALL=(ros tools submodules livox robot legkilo rosdep realsense webrtc ollama people_model build
+ALL=(ros tools submodules dharma livox robot legkilo rosdep realsense webrtc ollama people_model build
      config service network)
-DEFAULT_INSTALL=(tools submodules livox robot legkilo rosdep realsense webrtc ollama build config)
+DEFAULT_INSTALL=(tools submodules dharma livox robot legkilo rosdep realsense webrtc ollama build config)
 
 SUDO=$([[ "$(id -u)" -eq 0 ]] && echo "" || echo "sudo")
 IN_DOCKER=$([[ -f /.dockerenv ]] && echo 1 || echo 0)
@@ -147,6 +147,25 @@ install_submodules() {
         submodule update --init --recursive
 }
 
+check_dharma() {
+    local missing=() name
+    for name in $(awk '/^  dharma\// {sub(":", ""); print $1}' "$ROOT/pashupati.repos"); do
+        [[ -f "$ROOT/src/$name/README.md" ]] || missing+=("$name")
+    done
+    [[ ${#missing[@]} -eq 0 ]] && echo "src/dharma: all checked out" && return 0
+    echo "not checked out: ${missing[*]}"; return 1
+}
+install_dharma() {
+    command -v vcs >/dev/null || apt_install python3-vcstool
+    if ! vcs import --skip-existing "$ROOT/src" < "$ROOT/pashupati.repos"; then
+        log "SSH clone failed, retrying the dharma packages over HTTPS"
+        GIT_CONFIG_COUNT=1 GIT_CONFIG_KEY_0=url.https://github.com/.insteadOf \
+            GIT_CONFIG_VALUE_0=git@github.com: \
+            vcs import --skip-existing "$ROOT/src" < "$ROOT/pashupati.repos"
+    fi
+    vcs pull "$ROOT/src/dharma"
+}
+
 check_livox() {
     [[ -f /usr/local/lib/liblivox_lidar_sdk_shared.so ]] \
         && echo "/usr/local/lib/liblivox_lidar_sdk_shared.so" && return 0

script/start_tmux.sh

@@ -63,9 +63,13 @@ else
     tmux send-keys -t "$SESSION:robot.0" "# ROBOT_BRINGUP unset: start the robot driver here" C-m
 fi
 sleep 3
-run robot.1 "ros2 launch robot_odometry odometry.launch.py method:=$ODOMETRY save_map:=$SAVE_MAP \
-localization:=true tags_config_file:=$TAGS leg_odom_topic:=/$ROBOT_NS/odom"
-run robot.2 "ros2 launch robot_perception perception.launch.py people:=$PEOPLE"
+CONFIG="\$(ros2 pkg prefix pashupati)/share/pashupati/config"
+run robot.1 "ros2 launch dharma_odometry odometry.launch.py method:=$ODOMETRY save_map:=$SAVE_MAP \
+localization:=true tags_config_file:=$TAGS leg_odom_topic:=/$ROBOT_NS/odom \
+params_file:=$CONFIG/odometry_params.yaml fast_lio_params_file:=$CONFIG/fast_lio.yaml"
+PERCEPTION="ros2 launch dharma_perception perception.launch.py visitors:=false params_file:=$CONFIG/perception_params.yaml"
+[[ "$PEOPLE" == "true" ]] && PERCEPTION+=" & ros2 launch pashupati_perception people.launch.py"
+run robot.2 "$PERCEPTION"
 if [[ "$RVIZ" == "1" ]]; then
     run robot.3 "ros2 run rviz2 rviz2 -d \$(ros2 pkg prefix robot_rviz)/share/robot_rviz/rviz/robot.rviz \
 --ros-args -r battery:=/$ROBOT_NS/battery -r cmd_vel:=/$ROBOT_NS/cmd_vel \
@@ -77,7 +81,7 @@ tmux select-layout -t "$SESSION:robot" tiled
 tmux new-window -t "$SESSION" -n nav
 tmux split-window -v -t "$SESSION:nav"
 if [[ "$MODE" == "patrol" ]]; then
-    run nav.0 "ros2 launch robot_navigation navigation.launch.py waypoints_file:=$ROUTE \
+    run nav.0 "ros2 launch dharma_navigation navigation.launch.py params_file:=$CONFIG/navigation_params.yaml waypoints_file:=$ROUTE \
 cmd_vel_topic:=/bridge/nav_cmd_vel battery_topic:=/$ROBOT_NS/battery"
 fi
 tmux split-window -h -t "$SESSION:nav.0"

src/pashupati/README.md

@@ -22,7 +22,7 @@ provide.
 | `robot_ns` | `$ROBOT_NS` or `robot` | robot driver namespace (`/robot/cmd_vel`, `/robot/odom`, ...) |
 | `robot_bringup` | `$ROBOT_BRINGUP` | robot package `<package>[/<file>.launch.py]`, started with `namespace:=<robot_ns>`; empty: the robot runs elsewhere (simulator, vendor service) |
 | `mode` | `$MODE` or `patrol` | `teach` keeps the map (FAST-LIO PCD / Leg-KILO backend, RAM grows); `mapping` still works |
-| `odometry` | `$ODOMETRY` or `fast_lio` | `fast_lio`, `leg_kilo` or `external` (simulator) ([robot_odometry](../robot_odometry)) |
+| `odometry` | `$ODOMETRY` or `fast_lio` | `fast_lio`, `leg_kilo` or `external` (simulator) ([dharma_odometry](../dharma_odometry)) |
 | `route` | `$ROUTE` | route CSV; empty reloads the last route loaded through `navigation/load_path` |
 | `tags` | `$TAGS` | AprilTag map poses (JSON), created by `localization/record_tags` |
 | `cc_url`, `cc_token` | `$CC_URL`, `$CC_TOKEN` | NETRA command center |

src/pashupati/launch/robot.launch.py

@@ -159,8 +159,8 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
             **kwargs,
         )
 
-    nav = share('robot_navigation', 'config', 'navigation_params.yaml')
-    perception = share('robot_perception', 'config', 'perception_params.yaml')
+    nav = share('pashupati', 'config', 'navigation_params.yaml')
+    perception = share('pashupati', 'config', 'perception_params.yaml')
     bridge = share('robot_bridge', 'config', 'bridge_params.yaml')
     version = package_version(share('pashupati', 'package.xml'))
     git = os.environ.get('PASHUPATI_GIT', 'unknown')
@@ -185,28 +185,33 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
         actions.append(mediamtx)
     actions.append(
         IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(share('robot_odometry', 'launch', 'odometry.launch.py')),
+            PythonLaunchDescriptionSource(
+                share('dharma_odometry', 'launch', 'odometry.launch.py')
+            ),
             launch_arguments={
                 'method': odometry,
                 'save_map': str(mode == 'teach'),
                 'respawn': 'true',
                 'record': 'true',
                 'leg_odom_topic': topic('odom'),
                 'site_config': site[0] if site else '',
+                'params_file': share('pashupati', 'config', 'odometry_params.yaml'),
+                'fast_lio_params_file': share('pashupati', 'config', 'fast_lio.yaml'),
+                'leg_kilo_config_file': share('pashupati', 'config', 'leg_kilo.yaml'),
             }.items(),
         )
     )
     actions += [
         node(
-            'robot_localization',
+            'dharma_localization',
             'localization_node',
-            [share('robot_localization', 'config', 'localization_params.yaml')],
+            [share('pashupati', 'config', 'localization_params.yaml')],
             {'tags_config_file': arg('tags')},
         ),
-        node('robot_perception', 'lidar_sector_node', [perception]),
+        node('dharma_perception', 'lidar_sector_node', [perception]),
         # the tag detector sees the camera at rate_hz only: localization needs a few poses/s
         node(
-            'robot_perception',
+            'dharma_perception',
             'image_throttle_node',
             [perception],
             name='apriltag_throttle',
@@ -231,16 +236,16 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
             respawn_delay=3.0,
             output='screen',
         ),
-        node('robot_navigation', 'path_loader_node', [nav], {'waypoints_file': arg('route')}),
-        node('robot_navigation', 'obstacle_avoidance_node', [nav]),
+        node('dharma_navigation', 'path_loader_node', [nav], {'waypoints_file': arg('route')}),
+        node('dharma_navigation', 'obstacle_avoidance_node', [nav]),
         node(
-            'robot_navigation',
+            'dharma_navigation',
             'path_follower_node',
             [nav],
             remappings=[('cmd_vel', '/bridge/nav_cmd_vel'), ('battery', topic('battery'))],
         ),
         node(
-            'robot_bridge',
+            'dharma_control',
             'control_mux_node',
             [bridge],
             remappings=[('cmd_vel', topic('cmd_vel'))],
@@ -277,7 +282,7 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
     else:
         actions.append(LogInfo(msg='NETRA uplink off: no cc_url (CC_URL)'))
     if truthy(arg('people')):
-        actions.append(node('robot_perception', 'person_detector_node', [perception]))
+        actions.append(node('pashupati_perception', 'person_detector_node', [perception]))
     if truthy(arg('inspection')):
         actions.append(
             node(

src/pashupati/package.xml

@@ -11,10 +11,12 @@
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>python3-yaml</exec_depend>
   <exec_depend>apriltag_ros</exec_depend>
-  <exec_depend>robot_odometry</exec_depend>
-  <exec_depend>robot_localization</exec_depend>
-  <exec_depend>robot_perception</exec_depend>
-  <exec_depend>robot_navigation</exec_depend>
+  <exec_depend>dharma_odometry</exec_depend>
+  <exec_depend>dharma_localization</exec_depend>
+  <exec_depend>dharma_perception</exec_depend>
+  <exec_depend>pashupati_perception</exec_depend>
+  <exec_depend>dharma_control</exec_depend>
+  <exec_depend>dharma_navigation</exec_depend>
   <exec_depend>robot_bridge</exec_depend>
   <exec_depend>robot_fleet</exec_depend>
   <exec_depend>robot_inspection</exec_depend>