[Backport v9.4] Fix: Make robot_state_publisher the sole owner of the ridgeback_base_link transform in hangar_sim - #864
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griswaldbrooks merged 6 commits intoAug 20, 2026
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…r-base-link Fix: Make robot_state_publisher the sole owner of the ridgeback_base_link transform in hangar_sim
📝 WalkthroughSummary by CodeRabbit
WalkthroughChangesMuJoCo simulation now publishes odometry without competing TF. MuJoCo TF and odometry
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Suggested reviewers: Merge Risk: 🟡 Moderate · up to This change makes robot_state_publisher the sole owner of the ridgeback_base_link transform, but the currently published v9.4 image ignores the required hardware parameter, so duplicate TF publication can remain. Merge should wait until the paired v9.4 dependency is landed or provided, and the test subscription cleanup should also be addressed. 🚥 Pre-merge checks | ✅ 4✅ Passed checks (4 passed)
✨ Finishing Touches 💡 1🛠️ Fix failing CI checks 💡
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Consider whether the change should land upstream in Overlapping files
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…_sim architecture doc
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griswaldbrooks
marked this pull request as ready for review
August 20, 2026 12:44
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@coderabbitai approve |
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Inline comments:
In `@src/hangar_sim/test/objectives_integration_test.py`:
- Around line 363-393: Wrap the polling and assertion flow after creating the TF
and odometry subscriptions in a try block, and move destruction of both
subscriptions into a finally block so cleanup occurs on every exit path. Keep
the existing first-sighting, assertions, and sampling behavior unchanged, using
the subscription variables created in this test.
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📒 Files selected for processing (8)
Dockerfilesrc/hangar_sim/config/config.yamlsrc/hangar_sim/config/fuse/fuse.yamlsrc/hangar_sim/description/picknik_ur_mujoco_ros2_control.xacrosrc/hangar_sim/description/ur5e_ridgeback.xacrosrc/hangar_sim/docs/NAV2_AND_WHOLE_BODY_PLANNING_ARCHITECTURE.mdsrc/hangar_sim/launch/sim/robot_drivers_to_persist_sim.launch.pysrc/hangar_sim/test/objectives_integration_test.py
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Backport of #756 to
v9.4, per maintainer decision to backport moveit_pro#20258 (adds thebase_link_nameMuJoCo hardware parameter) tov9.4.What this does
Cherry-picks #756 (merge commit
59d74ff2e401897c859eda81a83da9401eb1366a) content-faithfully ontov9.4: makesrobot_state_publisherthe sole TF owner ofridgeback_base_linkinhangar_simby setting the newbase_link_nameMuJoCo hardware parameter, disabling the competing MuJoCo odom TF edge (odom_publish_tf: false,fuse.publish_tf: false), and re-anchoringworldunderodom(REP-105) instead ofmj_world. See #756 for full motivation/testing details.Dependency
This config has no effect until moveit_pro#20258 is also backported to
v9.4—base_link_nameis a no-op parameter on av9.4moveit_pro image that doesn't define it. Do not merge/deploy this ahead of that backport landing.The moveit_pro v9.4 backport of #20258 is tracked at moveit_pro#21734 (in CI as of this writing) — land that first, then this PR.
Testing note
This PR's own new regression test (carried over from #756) fails against the currently-published
v9.4image, exactly as expected from the dependency above:base_link_namedoesn't exist there yet, so MuJoCo's lidar fill-in chain still double-publishes the base link. It passes against a build of the paired moveit_pro#21734 backport.Validation
No local colcon/ROS toolchain available in this environment; validated what the repo's own tooling supports:
pre-commit runon all changed files: all hooks pass (yaml/xacro well-formed, black, codespell, yamllint, markdown links, mujoco_viewer check).CI on this PR will additionally cover xacro/launch build checks.