Separate robot and driver ownership

.github/workflows/ci.yml

@@ -0,0 +1,69 @@
+name: Package CI
+
+on:
+  pull_request:
+  push:
+    branches: [main, master]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out package
+        uses: actions/checkout@v6
+        with:
+          path: package
+      - name: Check out Blacknode
+        uses: actions/checkout@v6
+        with:
+          repository: temiroff/Blacknode
+          path: core
+      - name: Check out package dependencies
+        shell: bash
+        run: |
+          mkdir -p core/packages
+          git clone --depth 1 https://github.com/temiroff/blacknode-ros2.git core/packages/blacknode-ros2
+          git clone --depth 1 https://github.com/temiroff/blacknode-drivers.git core/packages/blacknode-drivers
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: "3.13"
+      - name: Install test dependencies
+        shell: bash
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install -e ./core pytest
+          if [ -f package/requirements.txt ]; then
+            python -m pip install -r package/requirements.txt
+          fi
+      - name: Link package into Blacknode
+        shell: bash
+        run: |
+          mkdir -p core/packages
+          ln -s "$GITHUB_WORKSPACE/package" "core/packages/${GITHUB_REPOSITORY#*/}"
+      - name: Run package tests
+        working-directory: package
+        env:
+          PYTHONPATH: ../core/python
+          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
+          BLACKNODE_FEETECH_DRIVER: ${{ github.workspace }}/core/packages/blacknode-drivers/components/feetech/adapters/ros2/runtime/feetech_bus_driver.py
+        run: python -m pytest tests
+      - name: Validate official package catalog
+        working-directory: core
+        env:
+          PYTHONPATH: python
+        run: python -m blacknode.cli packages validate-catalog ../package
+      - name: Validate package templates
+        if: ${{ hashFiles('package/**/templates/*.json') != '' }}
+        working-directory: core
+        env:
+          PYTHONPATH: python
+        shell: bash
+        run: |
+          find ../package -path '*/templates/*.json' -print0 | while IFS= read -r -d '' template; do
+            python -m blacknode.cli validate "$template"
+          done

AGENTS.md

@@ -6,8 +6,9 @@ state separately from the Blacknode core checkout that may contain it.
 ## Scope
 
 Keep generic USB discovery, permission checks, driver descriptors and launch,
-robot profiles, hardware-bound calibration, and physical robot drivers here.
-Keep ROS transport/control nodes in `blacknode-ros2`.
+robot profiles, hardware-bound calibration, and capability bindings here.
+Keep physical drivers in `blacknode-drivers`, generic controllers in
+`blacknode-controllers`, and ROS transport/control nodes in `blacknode-ros2`.
 
 ## Safety rules
 

README.md

@@ -1,5 +1,12 @@
 # blacknode-robot
 
+`blacknode-robot/core` owns stable robot contracts, profiles, discovery,
+hardware-identity calibration, capability bindings, and process descriptors.
+Physical driver implementations are selectable `blacknode-drivers` components.
+The existing Feetech script path remains as a compatibility launcher for saved
+profiles and delegates to the `ros2` adapter nested under the `feetech`
+component in `blacknode-drivers`.
+
 <video src="https://github.com/user-attachments/assets/80a9b797-ecf7-47d3-b6d3-baad7c0ea170" controls width="860"></video>
 
 **Generic robot setup nodes for [Blacknode](https://github.com/temiroff/Blacknode).**

blacknode-package.toml

@@ -1,12 +1,24 @@
 [package]
 name = "blacknode-robot"
-version = "0.1.0"
+version = "0.2.0"
 description = "Generic robot discovery, USB permission checks, driver launch, and robot profile contracts."
-requires-blacknode = ">=0.1.0"
+requires-blacknode = ">=0.3.0"
+layer = "robot"
+component-mode = true
 
 [categories]
 "Robot" = "#14b8a6"
 
-[dependencies]
-pip = ["feetech-servo-sdk>=1.0", "roslibpy>=1.5"]
-imports = ["scservo_sdk", "roslibpy"]
+[components.core]
+description = "Robot contracts, discovery, profiles, calibration, capabilities, and driver launch descriptors."
+default = true
+capabilities = ["robot.contracts", "robot.profiles", "robot.calibration", "robot.discovery"]
+nodes = ["nodes"]
+module-root = true
+node-types = [
+  "Robot", "RobotCalibrationRecorder", "RobotConnectionDashboard", "RobotDefinition",
+  "RobotDiscovery", "RobotDriverDescriptor", "RobotDriverLauncher", "RobotDriverPreset",
+  "RobotJointDefinition", "RobotJointList", "RobotProfileDuplicate", "RobotProfileList",
+  "RobotProfileLoad", "RobotProfileSave", "RobotUSBDiscovery",
+]
+