ROS: Standardize hand and EE pose topics with NamedPoseArray

[sgrizan-nv]

Description

Fixes #645

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update

Testing

Manual & integration testing

Checklist

• I have read and understood the contribution guidelines
• I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
• I have made corresponding changes to the documentation
• I have added tests that prove my fix/feature works (or explained why not)
• I have signed off all my commits (git commit -s) per the DCO

Summary by CodeRabbit

• New Features

  • Added NamedPoseArray message support (names alongside poses and per-entry validity).
  • Unified end-effector publishing on xr_teleop/ee_pose using NamedPoseArray.
  • Updated hand publishing to named left/right joint poses on xr_teleop/hand using NamedPoseArray.
  • Added the teleop_ros2_interfaces ROS 2 package and installation of its interfaces for examples/teleop_ros2.

• Bug Fixes

  • Strengthened runtime topic verification (frame, name ordering/uniqueness, array consistency, and validity/non-zero pose expectations).

• Documentation

  • Updated README topics, remapping examples, and echo guidance to match the new message format and topic names.

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📝 Walkthrough

Walkthrough

Adds the NamedPoseArray ROS 2 interface and packages it for installation. Teleoperation builders now emit named left/right EE and hand poses with validity flags. The node publishes unified xr_teleop/ee_pose and named xr_teleop/hand messages, while wrist transforms derive from unified EE data. Integration validators, README topic contracts, Docker setup, and source guidance are updated accordingly.

Estimated code review effort: 4 (Complex) | ~45 minutes

Sequence Diagram(s)

sequenceDiagram
  participant TeleopRos2Node
  participant MessageBuilders
  participant NamedPoseTopics
  participant WristTFBroadcaster
  TeleopRos2Node->>MessageBuilders: Build NamedPoseArray
  MessageBuilders-->>TeleopRos2Node: Return named poses and validity flags
  TeleopRos2Node->>NamedPoseTopics: Publish xr_teleop/ee_pose or xr_teleop/hand
  TeleopRos2Node->>WristTFBroadcaster: Broadcast wrist transforms

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🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 11.11% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly matches the main change: standardizing ROS hand and EE pose topics with NamedPoseArray.
Linked Issues check	✅ Passed	The PR satisfies #645 by replacing PoseArray-based EE and hand messaging with a custom NamedPoseArray that includes a header/frame ID.
Out of Scope Changes check	✅ Passed	The changed docs, tests, build files, and runtime code all support the NamedPoseArray interface work and do not appear unrelated.

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[sgrizan-nv]

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Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@examples/teleop_ros2/teleop_ros2_interfaces/package.xml`:
- Around line 13-21: Update the package.xml dependency declarations: replace the
separate build_depend and exec_depend entries for geometry_msgs and std_msgs
with <depend> entries, and move rosidl_default_generators from build_depend to
buildtool_depend alongside ament_cmake. Preserve rosidl_default_runtime as an
exec_depend.

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ℹ️ Review info

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📥 Commits

Reviewing files that changed from the base of the PR and between 615cf8c and 7ab32a5.

📒 Files selected for processing (11)

• examples/teleop_ros2/AGENTS.md
• examples/teleop_ros2/CMakeLists.txt
• examples/teleop_ros2/Dockerfile
• examples/teleop_ros2/README.md
• examples/teleop_ros2/python/constants.py
• examples/teleop_ros2/python/integration_tests/teleop_ros2_topic_verifier.py
• examples/teleop_ros2/python/messages.py
• examples/teleop_ros2/python/teleop_ros2_node.py
• examples/teleop_ros2/teleop_ros2_interfaces/CMakeLists.txt
• examples/teleop_ros2/teleop_ros2_interfaces/msg/NamedPoseArray.msg
• examples/teleop_ros2/teleop_ros2_interfaces/package.xml

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[kajananchinniahNV]

LGTM beyond the minor nitpicks!