Fix frame consistency, race conditions, missing safety checks, and lifecycle error handling

[Copilot]

Full codebase review of the peregrine_core ROS2 UAV control stack. Found and fixed bugs across 6 packages related to frame consistency (Issue #3), thread safety, missing safety guards, and incomplete lifecycle error handling.

Frame consistency

• hardware_abstraction: GPS frame_id was hardcoded as "gps" instead of using parameterized baseLinkFrame_, breaking multi-UAV deployments where frame_prefix namespaces all frames.

Race conditions

• safety_monitor: odomFrame_ written outside mutex_ in onEstimatedState() while read under lock in updateGeofenceCache(). Moved lock acquisition before the write.
• uav_manager: active_ set to true before createActionServers() in on_activate() — goal callbacks could see active_==true with no servers. Reordered.

Missing safety checks in uav_manager

onLandAccepted, onGoToAccepted, onExecuteAccepted were all missing the emergency/preemption guard that onTakeoffAccepted had:

if (emergencyCb()) {
  failGoal("EMERGENCY_PREEMPT");
  return;
}
if (preempted()) {
  failGoal("GOAL_PREEMPTED");
  return;
}

Lifecycle on_error() leaving publishers active

on_error() in estimation_manager, control_manager, and trajectory_manager cancelled timers but never deactivated lifecycle publishers — leaving orphaned active publishers. Added deactivation matching the existing on_deactivate() pattern.

Cleanup safety (estimation_manager)

on_cleanup() called .reset() on timers/publishers without cancelling or deactivating first. Added null-guarded cancel + deactivate before reset.

Repo hygiene

Added .gitignore, removed 13 committed __pycache__/ binaries.

Notable design-level issues identified but not fixed

Area	Issue
multi_uav_sitl.launch.py	Per-PX4 ROS_DOMAIN_ID (1,2,3…) vs stack default (0) — DDS won't connect
single_uav.launch.py	5/7 nodes don't receive frame_prefix param (they derive from upstream messages)
uav_manager	Hardcoded 90s land disarm wait and 4s control setpoint wait should be parameters

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