Merge feature/topic-normalize into develop by lewkoo · Pull Request #18 · haru-project/apps

lewkoo · 2026-04-15T07:33:24Z

Summary

Create the PR for the existing feature/topic-normalize branch against develop.

Validation

Branch diff inspected locally.

…ace and topic management; remove visualization sidecar from startup command.

… stack; integrate haru-viz service and adjust image tags for consistency.

…d clarify Azure Kinect depth mode settings

Copilot

Pull request overview

Updates the runtime configuration for the Perception stack to use normalized topic namespaces (via HARU_TOPIC_PREFIX) and introduces new Perception services (skeletons, haru-belief, haru-viz), plus adds a new recorder compose stack.

Changes:

Refactors Perception compose/services and env vars to use normalized topic namespaces and updated service set (adds skeletons, replaces people/visualization with haru-belief/haru-viz).
Adds a new recorder stack (apps/docker-compose-recorder.yaml + envs/recorder.env) and exposes it via scripts/compose.sh.
Updates documentation and startup commands to reflect the new Perception service lineup and web-based viz.

Reviewed changes

Copilot reviewed 8 out of 9 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
start.sh	Updates Perception start command (but currently out of sync with new compose services).
scripts/compose.sh	Adds `recorder` stack support and adjusts formatting.
envs/recorder.env	New environment file for recorder stack configuration.
envs/perception.env	Updates ROS/FastDDS settings and introduces normalized topic/env conventions.
apps/docker-compose-recorder.yaml	New compose stack for `haru-recorder`.
apps/docker-compose-perception.yaml	Major Perception stack update: new services, normalized namespaces, new viz approach.
apps/docker-compose-all.yaml	Updates all-in-one stack to include new Perception services.
README.md	Updates pull/start instructions and expected Perception behavior.
.gitignore	Adds Python cache artifacts to ignore list.

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Copilot · 2026-04-15T07:37:53Z


 # Perception services
-bash scripts/compose.sh perception up azure-kinect faces hands people visualization --force-recreate -d
+bash scripts/compose.sh perception up azure-kinect faces hands people --force-recreate -d


start.sh still tries to start the people service, but apps/docker-compose-perception.yaml no longer defines a people service (it has haru-belief/haru-viz/skeletons instead). This will make ./start.sh fail with "no such service". Update the perception up ... list to match the current perception stack services.

Suggested change

bash scripts/compose.sh perception up azure-kinect faces hands people --force-recreate -d

bash scripts/compose.sh perception up azure-kinect faces hands haru-belief haru-viz skeletons --force-recreate -d

Copilot · 2026-04-15T07:37:53Z

-  echo "Stacks: perception | speech | llm | reasoner | tts | simulator | all" >&2
-  exit 1
+    echo "Usage: $(basename "$0") <stack> <docker compose args...>" >&2
+    echo "Stacks: perception | speech | llm | reasoner | tts | simulator | all" >&2


Copilot · 2026-04-15T07:37:53Z

-      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority:ro
+      - type: bind
+        source: ../../haru-viz
+        target: /workspace/haru-viz


haru-viz bind-mounts ../../haru-viz unconditionally. If that host path doesn’t exist (or is empty), Docker will create/mount an empty directory and mask whatever the image provides at /workspace/haru-viz, which can break startup. Consider making this mount opt-in (e.g., via a profile or an env-var controlled host path) or remove it for non-dev usage.

Suggested change

target: /workspace/haru-viz

target: /workspace/haru-viz

bind:

create_host_path: false

Copilot · 2026-04-15T07:37:54Z

+    image: ${HARU_RECORDER_IMAGE:-ghcr.io/haru-project/haru-recorder:latest}
+    network_mode: *network-mode
+    env_file:
+      - ../envs/recorder.env
+    ports:
+      - "${HARU_RECORDER_WEB_UI_PORT:-8088}:${HARU_RECORDER_WEB_UI_PORT:-8088}"
+    volumes:


docker-compose-recorder.yaml sets network_mode to host by default, but also publishes ports. With network_mode: host, Docker Compose ignores ports: (and emits a warning), which can confuse users about how to reach the web UI. Either default COMPOSE_NETWORK_MODE to bridge for this stack, or document/remove the ports: mapping when running in host mode.

Copilot · 2026-04-15T07:37:54Z

 docker pull ghcr.io/haru-project/strawberry-ros-hands:latest
+docker pull ghcr.io/haru-project/haru-belief:feature-topic-normalize
+docker pull ghcr.io/haru-project/haru-viz:develop
 docker pull ghcr.io/haru-project/strawberry-ros-people:latest


The install instructions still include pulling strawberry-ros-people:latest, but this PR removes the people service from the default perception compose stack (replaced by haru-belief). This makes the image pull list misleading; drop strawberry-ros-people here or explain when it’s still needed.

Suggested change

docker pull ghcr.io/haru-project/strawberry-ros-people:latest

Copilot · 2026-04-15T07:37:54Z

+    - The `haru-viz` web UI is reachable at `http://127.0.0.1:5173`
+    - rosbridge stays co-located with `haru-viz` and continues using ports `9090`, `9091`, and `9092`

    **Related repositories for debug**: [strawberry-ros-people](https://github.com/haru-project/strawberry-ros-people/tree/ros2)


This section still points readers to strawberry-ros-people for perception-layer debugging, but the PR’s perception stack no longer runs the people service by default. Update the “Related repositories for debug” link to match the services users are actually running (e.g., haru-belief, haru-viz, strawberry-ros-skeletons, etc.).

Suggested change

**Related repositories for debug**: [strawberry-ros-people](https://github.com/haru-project/strawberry-ros-people/tree/ros2)

**Related repositories for debug**: [haru-belief](https://github.com/haru-project/haru-belief/tree/ros2), [haru-viz](https://github.com/haru-project/haru-viz), [strawberry-ros-skeletons](https://github.com/haru-project/strawberry-ros-skeletons/tree/ros2)

…ose and perception.env

…oner postprocessor)

lewkoo added 6 commits March 16, 2026 18:54

Normalize perception compose contracts and belief authority defaults

76f54ee

Refactor perception configuration to use HARU_TOPIC_PREFIX for namesp…

5be3b6e

…ace and topic management; remove visualization sidecar from startup command.

Update .gitignore to include Python cache files and bytecode

e545652

Update Docker configurations and environment variables for perception…

f3346c1

… stack; integrate haru-viz service and adjust image tags for consistency.

Update perception configuration to normalize skeleton output topic an…

303be5a

…d clarify Azure Kinect depth mode settings

Update Azure Kinect topic configurations for consistency and clarity

3413406

Copilot AI review requested due to automatic review settings April 15, 2026 07:33

Copilot started reviewing on behalf of lewkoo April 15, 2026 07:33 View session

Copilot AI reviewed Apr 15, 2026

View reviewed changes

lewkoo and others added 11 commits April 15, 2026 14:28

Merge branch 'develop' into feature/topic-normalize

583e458

Update perception stack images to use environment variable overrides

c02d32d

Update camera info topic paths in perception configuration

7f4ee05

Use topic normalize reasoner image

b2153de

Use topic normalize faces image

c169e5c

Refactor simulator command and update environment configurations for ROS

3581d64

Update reasoner image reference in download script to use variable

e16baf1

Add FACES_DATA_ROOT and ROS_HOME environment variables in docker-comp…

e2dbc43

…ose and perception.env

Isolate perception ROS domain

46c90b0

Disable perception ffmpeg RGB decode bridges

6bbf30c

Change /tf reliability to reliable (for compatibility with agent_reas…

8a4a113

…oner postprocessor)

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Merge feature/topic-normalize into develop#18

Merge feature/topic-normalize into develop#18
lewkoo wants to merge 17 commits into
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feature/topic-normalize

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	bash scripts/compose.sh perception up azure-kinect faces hands people --force-recreate -d
	bash scripts/compose.sh perception up azure-kinect faces hands haru-belief haru-viz skeletons --force-recreate -d

	echo "Stacks: perception \| speech \| llm \| reasoner \| tts \| simulator \| all" >&2
	echo "Stacks: perception \| speech \| llm \| reasoner \| tts \| simulator \| recorder \| all" >&2

	Related repositories for debug: [strawberry-ros-people](https://github.com/haru-project/strawberry-ros-people/tree/ros2)
	Related repositories for debug: [haru-belief](https://github.com/haru-project/haru-belief/tree/ros2), [haru-viz](https://github.com/haru-project/haru-viz), [strawberry-ros-skeletons](https://github.com/haru-project/strawberry-ros-skeletons/tree/ros2)

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lewkoo commented Apr 15, 2026

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