eholum-nasa · Sep 11, 2026 · Sep 12, 2026 · Sep 12, 2026 · Sep 12, 2026 · Sep 12, 2026
diff --git a/.gitmodules b/.gitmodules
@@ -32,15 +32,12 @@
 [submodule "src/external/mujoco_ros2_control"]
 	path = src/external/mujoco_ros2_control
 	url = https://github.com/ros-controls/mujoco_ros2_control.git
-[submodule "external/roboplan-ros"]
-	path = src/external/roboplan-ros
-	url = https://github.com/open-planning/roboplan-ros.git
 [submodule "src/external/imetro_behavior"]
 	path = src/external/imetro_behavior
 	url = https://github.com/NASA-JSC-Robotics/imetro_behavior.git
 [submodule "src/external/color_tools"]
 	path = src/external/color_tools
 	url = https://github.com/NASA-JSC-Robotics/color_tools.git
-[submodule "src/external/roboplan"]
-	path = src/external/roboplan
-	url = https://github.com/open-planning/roboplan.git
+[submodule "src/external/roboplan-ros"]
+	path = src/external/roboplan-ros
+	url = https://github.com/open-planning/roboplan-ros.git
diff --git a/Dockerfile b/Dockerfile
@@ -145,6 +145,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 COPY --chown=${USERNAME}:${USERNAME} src/ src/
 
 # Setup colcon default mixins and add default settings
+RUN touch /home/${USERNAME}/.netrc
 RUN colcon mixin add default \
     https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
     colcon mixin update || true

diff --git a/config/colcon-defaults.yaml b/config/colcon-defaults.yaml
@@ -5,8 +5,6 @@ build:
     - build-testing-on
     - ccache
     - compile-commands
-  packages-ignore:
-    - btcpp_ros2_samples
 test:
   event-handlers:
     - console_direct+
diff --git a/pixi.lock b/pixi.lock
diff --git a/pixi.toml b/pixi.toml
@@ -56,7 +56,10 @@ mold = ">=2.40.4,<3"
 colcon-common-extensions = ">=0.3.0,<0.4"
 colcon-mixin = ">=0.2.3,<0.3"
 pip = "*"
-nanobind = ">=2.8.0,<3"
+nanobind = ">=2.12.0,<3"
+# This is dark but if we don't match the exact version of what was used in
+# core roboplan objects will not be able to be shared in the bindings.
+nanobind-abi = "==20"
 trimesh = ">=4.11.4,<5"
 pycollada = ">=0.9.3,<0.10"
 viser = ">=1.0.29,<2"
@@ -119,6 +122,14 @@ ros-jazzy-ur-robot-driver = "*"
 ros-jazzy-velocity-controllers = "*"
 ros-jazzy-xacro = "*"
 
+# RoboPlan dependencies
+ros-jazzy-roboplan = "*"
+ros-jazzy-roboplan-cartesian-planning = "*"
+ros-jazzy-roboplan-oink = "*"
+ros-jazzy-roboplan-rrt = "*"
+ros-jazzy-roboplan-simple-ik = "*"
+ros-jazzy-roboplan-toppra = "*"
+
 # Dependencies that not available on conda-forge and must be fetched from PyPi.
 # Try not to use this section unless absolutely necessary.
 [pypi-dependencies]

diff --git a/src/clr_demos/clr_roboplan_demos/package.xml b/src/clr_demos/clr_roboplan_demos/package.xml
@@ -11,10 +11,14 @@
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>roboplan</depend>
+  <depend>roboplan_cartesian_planning</depend>
   <depend>roboplan_simple_ik</depend>
   <depend>roboplan_oink</depend>
   <depend>roboplan_rrt</depend>
   <depend>roboplan_toppra</depend>
+  <depend>roboplan_ros_py</depend>
+  <depend>roboplan_ros_cpp</depend>
+  <depend>roboplan_ros_visualization</depend>
   <depend>xacro</depend>
 
   <export>

diff --git a/src/external/imetro_behavior b/src/external/imetro_behavior
diff --git a/src/external/mujoco_ros2_control b/src/external/mujoco_ros2_control
diff --git a/src/external/roboplan b/src/external/roboplan
diff --git a/src/external/roboplan-ros b/src/external/roboplan-ros
+15,745 −10,397		pixi.lock
+107 −42		src/imetro_behavior/imetro_behavior/moveit_behaviors.py
+38 −1		src/imetro_behavior/tests/test_moveit_behaviors.py
+61 −9		mujoco_ros2_control/docs/hardware_interface.rst
+14 −0		mujoco_ros2_control/docs/tools.rst
+76 −1		mujoco_ros2_control/include/mujoco_ros2_control/data.hpp
+11 −0		mujoco_ros2_control/include/mujoco_ros2_control/mujoco_system_interface.hpp
+133 −0		mujoco_ros2_control/include/mujoco_ros2_control/utils.hpp
+4 −0		mujoco_ros2_control/mujoco_ros2_control/__init__.py
+88 −17		mujoco_ros2_control/mujoco_ros2_control/urdf_to_mujoco_utils.py
+3 −0		mujoco_ros2_control/scripts/make_mjcf_from_robot_description.py
+40 −14		mujoco_ros2_control/src/mujoco_system_interface.cpp
+291 −0		mujoco_ros2_control/tests/test_mujoco_system_interface.cpp
+141 −12		mujoco_ros2_control/tests/test_urdf_to_mujoco_utils.py
+1 −1		ROBOPLAN_VERSION
+18 −2		roboplan_ros_cpp/bindings/CMakeLists.txt
+3 −3		roboplan_ros_cpp/bindings/src/roboplan_ros_cpp_bindings.cpp
+0 −1		roboplan_ros_examples/roboplan_ros_examples/package.xml
+11 −1		roboplan_ros_examples/roboplan_ros_franka/scripts/optimal_ik_streaming_node.py
+94 −116		roboplan_ros_examples/roboplan_ros_franka/scripts/plan_and_execute_node.py
+4 −2		roboplan_ros_visualization/bindings/CMakeLists.txt