Feat/medkit integration - #1

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mfaferek93 wants to merge 19 commits into

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feat/medkit-integration

Commits on May 14, 2026

chore(cpp_trees): drop unused topic_based_ros2_control dependency
mfaferek93
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734ed0a
refactor(cpp_trees): give every BT executable a unique ROS node name
mfaferek93
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f808a85
build(cpp_trees): wire ros2_medkit_fault_reporter as a hard dependency
mfaferek93
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a3ba394
feat(cpp_trees): add fault catalogue, FaultReporting and reporter install helper
mfaferek93
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8acf1b0
feat(cpp_trees): inherit FaultReporting in 21 BT action node classes
mfaferek93
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bfc0e7e
feat(planner): emit medkit faults for collision, e-stop and retry exhaustion
mfaferek93
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8c1dd8e
feat(signals): emit medkit faults for IO failures, robot not ready, wait timeout
mfaferek93
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ced370c
feat(objects): emit medkit faults on add/remove/attach/get-pose/wait-timeout
mfaferek93
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de269cc
feat(gripper): emit medkit faults on command/traj operational failures
mfaferek93
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f700ec2
feat(logic): emit medkit faults for TF lookup and WaitForKeyBool timeout
mfaferek93
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94025d5
feat(isaac): emit medkit faults on FoundationPose detection timeouts
mfaferek93
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ca0526a
test(cpp_trees): add fault reporting roundtrip test with FakeFaultManager
mfaferek93
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4a19a09
docs(cpp_trees): add FAULT_CODES catalogue + README/CHANGELOG entries
mfaferek93
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f66a573
ci: install ros2_medkit deb packages so the medkit overlay build links
mfaferek93
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5acfd7d
fix: address self-review findings
mfaferek93
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e50cbbd
fix(cpp_trees): address PR #1 review
mfaferek93
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9bf2a57

Commits on May 23, 2026

ci: restore humble in build matrix
mfaferek93
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079a1a4
test: fix uncrustify divergence on humble
mfaferek93
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f02a179

Commits on May 24, 2026

feat(cpp_trees): make ros2_medkit dep optional
mfaferek93
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3f93d0e