refactor!: rename the robot_* packages to pashupati_*

.github/pull_request_template.md

@@ -5,7 +5,7 @@
 ## How it was tested
 
 - [ ] `colcon test` passes (CI green, simulator end-to-end test included)
-- [ ] Tried in the simulator (`ros2 launch robot_sim sim.launch.py`), on the robot or in the dev
+- [ ] Tried in the simulator (`ros2 launch pashupati_sim sim.launch.py`), on the robot or in the dev
       container: <!-- what you ran and saw -->
 
 ## Checklist

.github/workflows/ci.yml

@@ -16,8 +16,8 @@ env:
   ROSDEP_SKIP: >-
     livox_ros_driver2 fast_lio legkilo apriltag_draw
   PACKAGES: >-
-    pashupati_perception robot_bridge robot_fleet robot_inspection robot_health robot_rviz
-    pashupati robot_sim
+    pashupati_perception pashupati_bridge pashupati_fleet pashupati_inspection pashupati_health pashupati_rviz
+    pashupati pashupati_sim
 
 jobs:
   scripts:
@@ -128,7 +128,7 @@ jobs:
           source install/setup.bash
           ros2 launch pashupati robot.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
+          ros2 launch pashupati_sim sim.launch.py --show-args > /dev/null
       - name: Test reports
         if: always()
         uses: actions/upload-artifact@v4

CONTRIBUTING.md

@@ -68,6 +68,6 @@ pure-logic tests also run with plain `pytest` on a laptop.
 Anything that changes how the robot moves (speeds, limits, e-stop, avoidance, the control mux, the
 teleop gateway) needs a test that drives the logic, a note in the PR on how it was tried on the robot
 (slow speed, open area, someone at the e-stop), and a CHANGELOG entry. Try it in the simulator
-first (`ros2 launch robot_sim sim.launch.py autostart:=true rviz:=true`); its end-to-end test
+first (`ros2 launch pashupati_sim sim.launch.py autostart:=true rviz:=true`); its end-to-end test
 (sliding around a person, stopping for a crowd, the handheld driving at a person) runs in CI and
 must stay green.

README.md

@@ -137,13 +137,13 @@ flowchart LR
 | [`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 |
-| [`robot_health`](src/robot_health) | node liveness, odometry / safety scan / e-stop state, sensor rates, CPU, GPU and RAM |
-| [`robot_rviz`](src/robot_rviz) | RViz panels: Mission, Status, Tuning, AprilTags |
+| [`pashupati_bridge`](src/pashupati_bridge) | AUTO / REMOTE control mux, UDP teleop gateway ([protocol](src/pashupati_bridge/PROTOCOL.md)), WebRTC video |
+| [`pashupati_fleet`](src/pashupati_fleet) | NETRA uplink: telemetry, events, crowd, anomalies, routes ([API](src/pashupati_fleet/API.md)) |
+| [`pashupati_inspection`](src/pashupati_inspection) | VLM inspection (Ollama): continuous, interval queue or stop points, own finding types |
+| [`pashupati_health`](src/pashupati_health) | node liveness, odometry / safety scan / e-stop state, sensor rates, CPU, GPU and RAM |
+| [`pashupati_rviz`](src/pashupati_rviz) | RViz panels: Mission, Status, Tuning, AprilTags |
 | [`pashupati`](src/pashupati) | the robot: one launch with respawning nodes, site configuration |
-| [`robot_sim`](src/robot_sim) | simulated quadruped (driver, LiDAR, FAST-LIO interfaces) for the whole stack, end-to-end test |
+| [`pashupati_sim`](src/pashupati_sim) | simulated quadruped (driver, LiDAR, FAST-LIO interfaces) for the whole stack, end-to-end test |
 
 </details>
 
@@ -206,7 +206,7 @@ nothing, or only the vendor's topics:
 echo "alias pashu='source ~/dev/Pashupati/script/env.sh'" >> ~/.bashrc   # once
 pashu
 ros2 topic hz /perception/safety_scan
-pnode robot_bridge teleop_udp_node bridge_params.yaml   # one node, as robot.launch.py runs it
+pnode pashupati_bridge teleop_udp_node bridge_params.yaml   # one node, as robot.launch.py runs it
 ```
 
 <details>
@@ -304,7 +304,7 @@ the tuned values with **Save YAML**.
 | Inspection | `ros2 topic echo /anomaly_detector/status`: state, model, pace, queue, finding types and the last result |
 | People | `ros2 topic echo /perception/people_status`: state, backend, count and boxes |
 | Logs | `journalctl -fu pashupati`; ROS logs older than 7 days are pruned at start |
-| Debug view | RViz `robot_rviz/rviz/robot.rviz`: route coloured by speed, lookahead, cross-track, avoidance cone, approach target, tags |
+| Debug view | RViz `pashupati_rviz/rviz/robot.rviz`: route coloured by speed, lookahead, cross-track, avoidance cone, approach target, tags |
 
 <details>
 <summary><b>Services</b></summary>
@@ -395,10 +395,10 @@ On the robot during development, `script/start_tmux.sh teach|patrol` opens one p
 RViz, with the package default parameters and the env file's settings.
 
 **Simulation.** The whole stack runs against a simulated quadruped
-([robot_sim](src/robot_sim)), with no robot, Gazebo or GPU:
+([pashupati_sim](src/pashupati_sim)), with no robot, Gazebo or GPU:
 
 ```bash
-ros2 launch robot_sim sim.launch.py autostart:=true rviz:=true
+ros2 launch pashupati_sim sim.launch.py autostart:=true rviz:=true
 # a person steps onto the route
 ros2 topic pub --once /sim/obstacles geometry_msgs/msg/PoseArray "{poses: [{position: {x: 2.0, y: -3.0}}]}"
 ```

docs/README.md

@@ -16,8 +16,8 @@ parameter reference holds for every robot.
 |---|---|
 | [README](../README.md) | install, configuration, workflow, operations, development |
 | [Robot packages](../src/xtras/README.md) | what a robot package must provide, checklist for a new robot |
-| [Handheld protocol](../src/robot_bridge/PROTOCOL.md) | the UDP protocol between the robot and the Pashupati Controller |
-| [NETRA API](../src/robot_fleet/API.md) | what the robot sends to and takes from NETRA |
+| [Handheld protocol](../src/pashupati_bridge/PROTOCOL.md) | the UDP protocol between the robot and the Pashupati Controller |
+| [NETRA API](../src/pashupati_fleet/API.md) | what the robot sends to and takes from NETRA |
 | Package READMEs (`src/robot_*/README.md`) | nodes, topics, services and parameters of each package |
 | [CONTRIBUTING](../CONTRIBUTING.md) | branches, commits, rules that come from real crashes |
 | [CHANGELOG](../CHANGELOG.md) | changes per version |

docs/pdf/build.py

@@ -32,13 +32,13 @@
 # Config files of the parameter reference, in reading order: (package, file, what it covers)
 PARAMETER_FILES = [
     ('pashupati', 'navigation_params.yaml', 'route following, avoidance, stops'),
-    ('robot_bridge', 'bridge_params.yaml', 'control mux, protective field, handheld, video'),
+    ('pashupati_bridge', 'bridge_params.yaml', 'control mux, protective field, handheld, video'),
     ('pashupati', 'perception_params.yaml', 'LiDAR sectors, people, AprilTags'),
     ('pashupati', 'localization_params.yaml', 'map frame from AprilTags'),
-    ('robot_inspection', 'inspection_params.yaml', 'AI inspection'),
+    ('pashupati_inspection', 'inspection_params.yaml', 'AI inspection'),
     ('pashupati', 'odometry_params.yaml', 'odometry start, monitor, route recording'),
-    ('robot_health', 'health_params.yaml', 'health monitor'),
-    ('robot_fleet', 'fleet_params.yaml', 'NETRA uplink'),
+    ('pashupati_health', 'health_params.yaml', 'health monitor'),
+    ('pashupati_fleet', 'fleet_params.yaml', 'NETRA uplink'),
 ]
 
 KEY_LINE = re.compile(r'^(?P<indent> *)(?P<key>[A-Za-z0-9_./]+):\s*(?P<rest>.*)$')

docs/tuning/tuning-guide.md

@@ -73,7 +73,7 @@ the site file. Only some nodes react to live changes:
 | `person_detector_node` | `enabled`, `confidence`, `rate_hz` |
 | all other nodes | nothing: `ros2 param set` is accepted, but the node only reads its parameters at start. Use the site file and restart |
 
-The **Tuning** panel of RViz (`robot_rviz`) edits the navigation and avoidance parameters with
+The **Tuning** panel of RViz (`pashupati_rviz`) edits the navigation and avoidance parameters with
 sliders; its **Save YAML…** button writes them to a file. RViz runs on a laptop with ROS 2
 Humble on the robot's network: set `ROS_LOCALHOST_ONLY=0` in the env file, restart, and use
 the robot's `ROS_DOMAIN_ID` and `RMW_IMPLEMENTATION` on the laptop.

script/env.sh

@@ -3,7 +3,7 @@
 #
 #   source ~/dev/Pashupati/script/env.sh      # e.g. alias pashu='source ~/dev/Pashupati/script/env.sh'
 #   ros2 topic list                            # sees the stack, not a vendor stack on another RMW
-#   pnode robot_bridge teleop_udp_node bridge_params.yaml [ros args]
+#   pnode pashupati_bridge teleop_udp_node bridge_params.yaml [ros args]
 #
 # pnode runs one node the way robot.launch.py does: package defaults, then SITE_CONFIG, then args.
 # Env: PASHUPATI_ENV (/etc/pashupati/pashupati.env), ROS_DISTRO (humble)

script/start_tmux.sh

@@ -71,7 +71,7 @@ PERCEPTION="ros2 launch dharma_perception perception.launch.py visitors:=false p
 [[ "$PEOPLE" == "true" ]] && PERCEPTION+=" & ros2 launch pashupati_perception people.launch.py"
 run robot.2 "$PERCEPTION"
 if [[ "$RVIZ" == "1" ]]; then
-    run robot.3 "ros2 run rviz2 rviz2 -d \$(ros2 pkg prefix robot_rviz)/share/robot_rviz/rviz/robot.rviz \
+    run robot.3 "ros2 run rviz2 rviz2 -d \$(ros2 pkg prefix pashupati_rviz)/share/pashupati_rviz/rviz/robot.rviz \
 --ros-args -r battery:=/$ROBOT_NS/battery -r cmd_vel:=/$ROBOT_NS/cmd_vel \
 -r motor_temperature:=/$ROBOT_NS/motor_temperature -r diagnostics:=/$ROBOT_NS/diagnostics"
 fi
@@ -85,21 +85,21 @@ if [[ "$MODE" == "patrol" ]]; then
 cmd_vel_topic:=/bridge/nav_cmd_vel battery_topic:=/$ROBOT_NS/battery"
 fi
 tmux split-window -h -t "$SESSION:nav.0"
-run nav.1 "ros2 launch robot_bridge bridge.launch.py robot_ns:=$ROBOT_NS"
+run nav.1 "ros2 launch pashupati_bridge bridge.launch.py robot_ns:=$ROBOT_NS"
 tmux split-window -v -t "$SESSION:nav.1"
 FLEET_ARGS="robot_ns:=$ROBOT_NS"
 [[ -n "$CC_URL" ]] && FLEET_ARGS+=" server_url:=$CC_URL"
 [[ -n "$CC_TOKEN" ]] && FLEET_ARGS+=" token:=$CC_TOKEN"
-run nav.2 "ros2 launch robot_fleet fleet.launch.py $FLEET_ARGS"
+run nav.2 "ros2 launch pashupati_fleet fleet.launch.py $FLEET_ARGS"
 tmux send-keys -t "$SESSION:nav.3" "$SETUP" C-m
 tmux send-keys -t "$SESSION:nav.3" "# ros2 service call /localization/start std_srvs/srv/Trigger" C-m
 
 # Window 3: health and, when enabled, on-robot inspection (Moondream)
 tmux new-window -t "$SESSION" -n extra
-run extra.0 "ros2 launch robot_health health.launch.py"
+run extra.0 "ros2 launch pashupati_health health.launch.py"
 if truthy "$INSPECTION"; then
     tmux split-window -h -t "$SESSION:extra"
-    run extra.1 "ros2 launch robot_inspection inspection.launch.py"
+    run extra.1 "ros2 launch pashupati_inspection inspection.launch.py"
 fi
 
 tmux select-window -t "$SESSION:robot"

src/pashupati/launch/robot.launch.py

@@ -102,7 +102,7 @@ def video_server(webrtc: str, binary: str, params_files: list):
         )
     try:
         executable = os.path.join(
-            get_package_prefix('robot_bridge'), 'lib', 'robot_bridge', 'video_stream_node'
+            get_package_prefix('pashupati_bridge'), 'lib', 'pashupati_bridge', 'video_stream_node'
         )
     except PackageNotFoundError:
         executable = ''
@@ -161,7 +161,7 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
 
     nav = share('pashupati', 'config', 'navigation_params.yaml')
     perception = share('pashupati', 'config', 'perception_params.yaml')
-    bridge = share('robot_bridge', 'config', 'bridge_params.yaml')
+    bridge = share('pashupati_bridge', 'config', 'bridge_params.yaml')
     version = package_version(share('pashupati', 'package.xml'))
     git = os.environ.get('PASHUPATI_GIT', 'unknown')
 
@@ -251,7 +251,7 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
             remappings=[('cmd_vel', topic('cmd_vel'))],
         ),
         node(
-            'robot_bridge',
+            'pashupati_bridge',
             'teleop_udp_node',
             [bridge],
             teleop,
@@ -265,9 +265,9 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
     if arg('cc_url').strip():
         actions.append(
             node(
-                'robot_fleet',
+                'pashupati_fleet',
                 'fleet_uplink_node',
-                [share('robot_fleet', 'config', 'fleet_params.yaml')],
+                [share('pashupati_fleet', 'config', 'fleet_params.yaml')],
                 {
                     'server_url': arg('cc_url'),
                     'token': arg('cc_token'),
@@ -286,17 +286,17 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
     if truthy(arg('inspection')):
         actions.append(
             node(
-                'robot_inspection',
+                'pashupati_inspection',
                 'anomaly_detector_node',
-                [share('robot_inspection', 'config', 'inspection_params.yaml')],
+                [share('pashupati_inspection', 'config', 'inspection_params.yaml')],
             )
         )
     if truthy(arg('health')):
         actions.append(
             node(
-                'robot_health',
+                'pashupati_health',
                 'health_monitor_node',
-                [share('robot_health', 'config', 'health_params.yaml')],
+                [share('pashupati_health', 'config', 'health_params.yaml')],
                 {'expected_nodes': expected_nodes(started, odometry), 'robot_ns': ns},
             )
         )

src/pashupati/package.xml

@@ -17,10 +17,10 @@
   <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>
-  <exec_depend>robot_health</exec_depend>
+  <exec_depend>pashupati_bridge</exec_depend>
+  <exec_depend>pashupati_fleet</exec_depend>
+  <exec_depend>pashupati_inspection</exec_depend>
+  <exec_depend>pashupati_health</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/pashupati/test/test_bringup.py

@@ -220,7 +220,7 @@ def servers(webrtc):
         config = yaml.safe_load(f)
     assert config['authInternalUsers'][1]['pass'] == password_hash('s3cret')
     command = shlex.split(config['paths']['camera']['runOnDemand'])
-    assert command[0].endswith(os.path.join('robot_bridge', 'video_stream_node'))
+    assert command[0].endswith(os.path.join('pashupati_bridge', 'video_stream_node'))
     assert str(site) in command  # the encoder gets the same site parameters
     assert servers('false') == []
     binary.write_text('#!/bin/sh\necho v1.9.0\n')

src/pashupati/test/test_video.py

@@ -42,12 +42,12 @@ def test_gstreamer_check(monkeypatch):
 def test_only_the_handheld_may_watch_and_only_this_computer_publish(tmp_path):
     """Reading needs the token (stored as a hash), publishing comes from the loopback only."""
     command = video.node_command(
-        '/ws/install/robot_bridge/lib/robot_bridge/video_stream_node',
+        '/ws/install/pashupati_bridge/lib/pashupati_bridge/video_stream_node',
         ['/ws/my params.yaml', '/etc/pashupati/site.yaml'],
         video.rtsp_url(),
     )
     assert shlex.split(command) == [
-        '/ws/install/robot_bridge/lib/robot_bridge/video_stream_node',
+        '/ws/install/pashupati_bridge/lib/pashupati_bridge/video_stream_node',
         '--ros-args',
         '--params-file',
         '/ws/my params.yaml',

src/robot_bridge/README.md → src/pashupati_bridge/README.md

@@ -1,4 +1,4 @@
-# robot_bridge
+# pashupati_bridge
 
 Who drives the robot, and how the handheld talks to it without ROS.
 
@@ -73,7 +73,7 @@ MediaMTX serves WebRTC (WHEP) to the handheld. MediaMTX, its configuration and t
 ## Run
 
 ```bash
-ros2 launch robot_bridge bridge.launch.py robot_ns:=robot
+ros2 launch pashupati_bridge bridge.launch.py robot_ns:=robot
 ros2 launch dharma_navigation navigation.launch.py cmd_vel_topic:=/bridge/nav_cmd_vel ...
 ```
 
@@ -83,5 +83,5 @@ publish a compressed image (`camera_compressed: true`); raw images are JPEG-enco
 ## Test
 
 ```bash
-colcon test --packages-select robot_bridge && colcon test-result --verbose
+colcon test --packages-select pashupati_bridge && colcon test-result --verbose
 ```

src/robot_bridge/launch/bridge.launch.py → src/pashupati_bridge/launch/bridge.launch.py

@@ -10,7 +10,7 @@
 
 def generate_launch_description():
     """Launch the control mux and the UDP teleop gateway."""
-    share = get_package_share_directory('robot_bridge')
+    share = get_package_share_directory('pashupati_bridge')
     params = os.path.join(share, 'config', 'bridge_params.yaml')
     robot_ns = LaunchConfiguration('robot_ns')
     return LaunchDescription(
@@ -26,7 +26,7 @@ def generate_launch_description():
                 remappings=[('cmd_vel', ['/', robot_ns, '/cmd_vel'])],
             ),
             Node(
-                package='robot_bridge',
+                package='pashupati_bridge',
                 executable='teleop_udp_node',
                 name='teleop_udp_node',
                 output='screen',

src/robot_bridge/package.xml → src/pashupati_bridge/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_bridge</name>
+  <name>pashupati_bridge</name>
   <version>0.1.0</version>
   <description>Auto/remote control mux, the UDP teleop gateway (no ROS on the handheld) and its WebRTC video encoder.</description>
   <maintainer email="darmawandeveloper@gmail.com">Agus Darmawan</maintainer>

src/robot_bridge/robot_bridge/teleop_udp_node.py → src/pashupati_bridge/pashupati_bridge/teleop_udp_node.py

@@ -15,6 +15,7 @@
 from diagnostic_msgs.msg import DiagnosticArray
 from geometry_msgs.msg import Twist
 import numpy as np
+from pashupati_bridge import protocol
 from rcl_interfaces.msg import ParameterType
 from rcl_interfaces.srv import GetParameters, SetParameters
 import rclpy
@@ -23,7 +24,6 @@
 from rclpy.parameter import Parameter
 from rclpy.qos import qos_profile_sensor_data, QoSDurabilityPolicy, QoSProfile
 from rclpy.time import Time
-from robot_bridge import protocol
 from sensor_msgs.msg import BatteryState, CameraInfo, CompressedImage, Image, PointCloud2
 from std_msgs.msg import Bool, String
 from std_srvs.srv import SetBool, Trigger

src/pashupati_bridge/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/pashupati_bridge
+[install]
+install_scripts=$base/lib/pashupati_bridge

src/robot_bridge/setup.py → src/pashupati_bridge/setup.py

@@ -3,7 +3,7 @@
 
 from setuptools import find_packages, setup
 
-package_name = 'robot_bridge'
+package_name = 'pashupati_bridge'
 
 setup(
     name=package_name,
@@ -24,8 +24,8 @@
     license='Apache-2.0',
     entry_points={
         'console_scripts': [
-            'teleop_udp_node = robot_bridge.teleop_udp_node:main',
-            'video_stream_node = robot_bridge.video_stream_node:main',
+            'teleop_udp_node = pashupati_bridge.teleop_udp_node:main',
+            'video_stream_node = pashupati_bridge.video_stream_node:main',
         ],
     },
 )

src/robot_bridge/test/test_protocol.py → src/pashupati_bridge/test/test_protocol.py

@@ -2,8 +2,8 @@
 import types
 
 import numpy as np
+from pashupati_bridge import protocol
 import pytest
-from robot_bridge import protocol
 
 
 def test_tag_quads_are_image_fractions():
@@ -65,7 +65,7 @@ def test_discovery_beacon_and_seq():
     """A discover probe gets a beacon without the token; states carry an increasing seq."""
     import socket
 
-    node_module = pytest.importorskip('robot_bridge.teleop_udp_node')
+    node_module = pytest.importorskip('pashupati_bridge.teleop_udp_node')
     node = node_module.TeleopUdpNode.__new__(node_module.TeleopUdpNode)
     node._robot_name, node._token, node._client, node._client_seen = 'dog-01', 'secret', None, 0.0
     node._client_timeout, node._client_name, node._seq = 1.0, '', 0
@@ -97,7 +97,7 @@ def test_discovery_beacon_and_seq():
 
 def test_camera_rate_from_the_handheld_is_bounded():
     """camera_fps from the client is capped by the parameter; NaN, text and bools are ignored."""
-    node_module = pytest.importorskip('robot_bridge.teleop_udp_node')
+    node_module = pytest.importorskip('pashupati_bridge.teleop_udp_node')
     node = node_module.TeleopUdpNode.__new__(node_module.TeleopUdpNode)
     node.get_parameter = lambda name: types.SimpleNamespace(value=8.0)
     node._camera_period = 0.125