ROS: Centralize teleop runtime profiles

[sgrizan-nv]

Description

Make mode-specific session and publication contracts explicit, and add focused unit coverage to prevent wiring drift.

Summary by CodeRabbit

• New Features

  • Added profile-based teleoperation handling to select required outputs and published telemetry for each operating mode.
  • Added clearer validation for session results, including actionable missing or unexpected output errors.
  • Standardized teleoperation mode handling with named mode values.

• Bug Fixes

  • Improved consistency of hand, controller, full-body, head, and root-command output publishing across modes.

• Tests

  • Added coverage for geometry transformations, message construction, profile selection, mode validation, and malformed session results.

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📝 Walkthrough

Walkthrough

The teleoperation example now uses TeleopMode for mode contracts and parameter parsing. New profile specifications define required session-result keys and publication targets, with validation before ROS output. TeleopRos2Node routes publications from the resolved profile. Shared constants replace duplicated verifier definitions, the obsolete hand-pose helper is removed, and pytest configuration plus geometry, message, and profile tests are added.

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

Sequence Diagram(s)

sequenceDiagram
  participant TeleopRos2Node
  participant Session
  participant ProfileResolver
  participant ResultValidator
  participant ROSPublishers
  TeleopRos2Node->>ProfileResolver: resolve mode and hand retargeter
  ProfileResolver-->>TeleopRos2Node: TeleopProfileSpec
  TeleopRos2Node->>Session: step()
  Session-->>TeleopRos2Node: session result
  TeleopRos2Node->>ResultValidator: validate result against profile
  ResultValidator-->>TeleopRos2Node: SessionResult
  TeleopRos2Node->>ROSPublishers: publish profile-selected outputs

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Possibly related PRs

• NVIDIA/IsaacTeleop#755: Both changes move teleoperation pose publishing toward named-pose/message construction and remove the older shared hand-pose assembly flow.

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 5.88% 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 accurately summarizes the main change: centralizing teleop runtime profiles in the ROS example.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch sgrizan/branch2

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