fix(hangar_sim): make robot_state_publisher the sole owner of the ridgeback_base_link transform (backport to v9.4)

.github/workflows/ci.yaml

@@ -243,7 +243,10 @@ jobs:
       # can assume the LFS S3 cache IAM role via OIDC (moveit_pro_ci v0.5.x).
       contents: read
       id-token: write
-    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@a0e3b30c9aa8f8f82f95c91e5a34989d01caa046 # v0.9.0
+    # v0.9.1 adds the synthetic host NIC the integration container licenses against.
+    # From MoveIt Pro 9.4.2 the fingerprint needs a TPM or a permanent NIC and fails
+    # closed with neither, which is every runner this job lands on.
+    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@2eff8c8aa644ed07acaaebc9eb15af4af7169e79 # v0.9.1
     with:
       image_tag: ${{ needs.resolve.outputs.image_tag }}
       image_ref: ${{ needs.resolve.outputs.image_ref }}

Dockerfile

@@ -23,6 +23,10 @@ ARG USERNAME
 ARG USER_UID
 ARG USER_GID
 
+# Ubuntu 24.04 images include user `ubuntu` with UID/GID 1000.
+# Remove it before creating the workspace user with the host UID/GID.
+RUN if id -u ubuntu > /dev/null 2>&1; then userdel -r ubuntu || true; fi
+
 # Copy source code from the workspace's ROS 2 packages to a workspace inside the container
 ARG USER_WS=/home/${USERNAME}/user_ws
 ENV USER_WS=${USER_WS}

src/hangar_sim/config/config.yaml

@@ -21,7 +21,10 @@ hardware:
           path: "config/moveit/joint_limits.yaml"
       - mujoco_model: "description/hangar_scene.xml"
       - mujoco_viewer: false  # set to true locally to open the MuJoCo viewer window
-      # Set to false when use_fuse:=true so fuse is the sole odom -> ridgeback_base_link publisher.
+      # Publishes /odom messages for Nav2. The odom -> ridgeback_base_link TF edge is NOT
+      # published by MuJoCo (odom_publish_tf is false in the ros2_control xacro);
+      # robot_state_publisher owns the live transform to ridgeback_base_link via
+      # the virtual-rail joint chain, so this can stay true with fuse enabled.
       # Rebuild hangar_sim after changing this value.
       - publish_odom: true
 

src/hangar_sim/config/fuse/fuse.yaml

@@ -87,7 +87,11 @@ state_estimator:
       base_link_output_frame_id: 'ridgeback_base_link'
       odom_frame_id: 'odom'
       map_frame_id: 'map'
+      # robot_state_publisher owns the live TF to ridgeback_base_link via the
+      # virtual-rail joint chain; fuse must not publish a competing parent.
+      # Its estimate stays available on odom_filtered. On real hardware, feed
+      # the estimate into the virtual-rail joint states instead of TF.
       world_frame_id: 'odom'
-      publish_tf: true
+      publish_tf: false
       publish_frequency: 10.0
       predict_to_current_time: true

src/hangar_sim/description/picknik_ur_mujoco_ros2_control.xacro

@@ -23,9 +23,22 @@
           <param name="publish_odom">${publish_odom}</param>
           <param name="odom_child_frame">ridgeback_base_link</param>
           <param name="odom_rate">150</param>
-          <param name="odom_zero_z">true</param>
+          <!-- Zero z/roll/pitch in /odom for this planar base. The previous tag here,
+               odom_zero_z, is not a recognized odom publisher parameter and was silently
+               ignored; odom_planar is the real one. -->
+          <param name="odom_planar">true</param>
+          <!-- robot_state_publisher owns the live TF to ridgeback_base_link via the
+               virtual-rail joint chain (driven by MuJoCo's own joint states), so the
+               odom publisher must not broadcast a competing odom -> ridgeback_base_link
+               edge. /odom messages keep flowing for Nav2. -->
+          <param name="odom_publish_tf">false</param>
           <param name="odom_frame">odom</param>
           <param name="publish_mj_world_tf">false</param>
+          <!-- Stop the lidar TF fill-in chain at the robot's base instead of walking to
+               the MJCF worldbody. Without this, MuJoCo broadcasts
+               base_platform -> ridgeback_base_link, a second parent for a frame that
+               robot_state_publisher already publishes. -->
+          <param name="base_link_name">ridgeback_base_link</param>
           <param name="mujoco_viewer">${mujoco_viewer}</param>
           <param name="mujoco_keyframe">default</param>
       </hardware>

src/hangar_sim/description/ur5e_ridgeback.xacro

@@ -19,7 +19,9 @@
   <xacro:arg name="initial_positions_file" default="$(find picknik_ur_base_config)/config/initial_positions.yaml"/>
   <xacro:arg name="mujoco_model" default="description/bar_scene.xml"/>
   <xacro:arg name="mujoco_viewer" default="false" />
-  <!-- Set to false when use_fuse:=true so fuse is the sole odom → ridgeback_base_link publisher. -->
+  <!-- Publishes /odom messages for Nav2. The odom → ridgeback_base_link TF edge is never
+       broadcast by MuJoCo (odom_publish_tf is false in the ros2_control macro), so this can
+       stay true regardless of use_fuse. -->
   <xacro:arg name="publish_odom" default="true"/>
 
   <!-- Import UR and environment macros -->
@@ -76,7 +78,11 @@
     <axis xyz="1 0 0"/>
     <parent link="world" />
     <child link="virtual_rail_link_1" />
-    <origin xyz="0 0 0" rpy="0 0 0" />
+    <!-- z matches the MJCF base_platform_rotation anchor (pos 0 0 -0.048), which is tuned
+         so the wheels contact the floor (the sim base has no z DOF). Without this offset
+         the robot_state_publisher chain renders the robot 48 mm above where the physics
+         (and every sensor frame) actually put it. -->
+    <origin xyz="0 0 -0.048" rpy="0 0 0" />
     <limit effort="1000.0" lower="-25.0" upper="25.0" velocity="0.175" acceleration="10.0"/>
     <dynamics damping="20.0" friction="500.0" />
   </joint>