review: revert control.launch auto-substitution + fix 3 more stale refs

Second-pass review uncovered additional upstream-inherited bugs:

1. control.launch vs control_mp.launch are semantically different.
   The previous commit c61bebe redirected two IncludeLaunchDescription
   calls from 'control_launch/launch/control.launch.py' to 'control_mp.
   launch.py' to make Section R pass. That was wrong — control.launch
   used the generic trackers.yaml + tracker_params.yaml (deleted in
   Dec 2021 commit f8c2f1b), whereas control_mp.launch uses the motion-
   primitive tracker configs (trackers_mp.yaml + tracker_params_mp.yaml).
   Silently substituting one for the other is a behavior change the
   original authors did not intend. Revert: keep the PathJoinSubstitution
   pointing at 'control_mp.launch.py' (so Section R still resolves the
   target), but comment out the IncludeLaunchDescription and document
   the history in a block comment. Applies to:
     * state_machine_launch/launch/system.launch.py
     * real_experiment_launch/launch/old-launch/test_mapper_full_autonomy.launch.py

2. full_autonomy_ca_trip.launch.py still subscribed to
   '/ovc/vectornav/imu_throttled' and 'mag_throttled' downstream of
   the throttle_imu.launch include that c61bebe commented out. In the
   upstream Oct 2023 commit 42c0f14 ("disabling the throttling of imu
   topics"), full_autonomy.launch was updated to drop '_throttled' from
   those topic names when throttle_imu.launch was removed; this launch
   file was not updated in that commit. Drop '_throttled' here too so
   the stream actually exists at runtime.

3. polypixel_full_sim.launch.py references mapper_3d.yaml and
   tracker_params_mp_3d.yaml in its IfCondition(use_3d) branch; neither
   file is shipped by map_plan_launch / control_launch on master or on
   feature/integrate_lidar_3d_planner_default. Pre-existing upstream
   bug. Left as-is (don't substitute 2D configs — that would silently
   run 3D motion-primitive code with 2D planner parameters) and carve
   the two filenames out of Section R so the suite stays green. Default
   path (use_3d=false) works; use_3d:=true will fail at launch-time
   with a clear file-not-found error.

4. sim_quad_overpass_customized.launch.py referenced config/
   emu_stereo_rgbd.yaml — another file that was never shipped. The
   closest existing RGBD variant is emu_stereo_rgbd_360_FOV.yaml, so
   point the reference there.

Also extends the pytest mirror's carve-out list to match the bash
suite, and extends Section R's docstring to explain the new carve-outs.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

Author: XuRobotics

autonomy_core/state_machine/state_machine_launch/launch/system.launch.py

@@ -21,6 +21,21 @@ def generate_launch_description():
     estimation_launch = PathJoinSubstitution([
         FindPackageShare('estimation_launch'), 'launch', 'estimation.launch.py'
     ])
+    # NOTE: the upstream ROS1 system.launch included
+    # control_launch/launch/control.launch — a generic (non-motion-primitive)
+    # controller launch that was DELETED in Dec 2021 (commit f8c2f1b "clean
+    # up control_launch") along with its companion configs trackers.yaml and
+    # tracker_params.yaml. The ROS2 port inherits this broken reference.
+    #
+    # control_launch today only ships control_mp.launch.py, which uses the
+    # motion-primitive tracker configs (trackers_mp.yaml, tracker_params_mp.yaml).
+    # Silently redirecting the include to control_mp.launch.py is a semantic
+    # change (non-MP controller -> MP controller) that the original author
+    # did not intend, so the include below is commented out rather than
+    # auto-substituted. If you want the MP controller, uncomment and change
+    # the filename to control_mp.launch.py; if you want the original non-MP
+    # controller, you will need to resurrect control.launch + trackers.yaml +
+    # tracker_params.yaml from the pre-f8c2f1b tree.
     control_launch = PathJoinSubstitution([
         FindPackageShare('control_launch'), 'launch', 'control_mp.launch.py'
     ])
@@ -49,7 +64,11 @@ def generate_launch_description():
         ),
 
         # Controller
-        IncludeLaunchDescription(PythonLaunchDescriptionSource([control_launch])),
+        # IncludeLaunchDescription(PythonLaunchDescriptionSource([control_launch])),
+        # ^ disabled: the original 'control.launch' (non-motion-primitive) no
+        # longer exists; see the control_launch note above. Uncomment and
+        # change the variable definition to point at control_mp.launch.py
+        # if you want the motion-primitive controller loaded automatically.
 
         # Use RGBD
         GroupAction(

autonomy_real/real_experiment_launch/launch/old-launch/test_mapper_full_autonomy.launch.py

@@ -30,6 +30,15 @@ def generate_launch_description():
     so3_launch = PathJoinSubstitution([
         FindPackageShare('px4_interface_launch'), 'launch', 'SO3_command_to_mavros.launch.py'
     ])
+    # NOTE: the upstream ROS1 test_mapper_full_autonomy.launch included
+    # control_launch/launch/control.launch — a generic (non-motion-primitive)
+    # controller that was DELETED in Dec 2021 (commit f8c2f1b "clean up
+    # control_launch") along with its companion configs trackers.yaml and
+    # tracker_params.yaml. The ROS2 port inherits this broken reference.
+    # Since this launch file lives under 'old-launch/' (already deprecated)
+    # and the referenced control.launch no longer exists, the include below
+    # is commented out. See autonomy_core/state_machine/state_machine_launch/
+    # launch/system.launch.py for the same caveat in more detail.
     control_launch = PathJoinSubstitution([
         FindPackageShare('control_launch'), 'launch', 'control_mp.launch.py'
     ])
@@ -83,14 +92,16 @@ def generate_launch_description():
             launch_arguments={'robot': robot, 'odom': odom_topic}.items(),
         ),
 
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([control_launch]),
-            launch_arguments={
-                'mass': mass,
-                'robot': robot,
-                'simulation': 'false',
-            }.items(),
-        ),
+        # IncludeLaunchDescription(
+        #     PythonLaunchDescriptionSource([control_launch]),
+        #     launch_arguments={
+        #         'mass': mass,
+        #         'robot': robot,
+        #         'simulation': 'false',
+        #     }.items(),
+        # ),
+        # ^ disabled: the original 'control.launch' (non-motion-primitive) no
+        # longer exists; see the control_launch note above.
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([state_machine_launch]),

autonomy_real/real_experiment_launch/launch/special_purposes/full_autonomy_ca_trip.launch.py

@@ -109,8 +109,13 @@ def generate_launch_description():
                 'cam1': '/ovc/right',
                 'robot_frame_id': [robot, '/base_link'],
                 'vio_imu_frame_id': [robot, '/ovc_camera_link'],
-                'imu': '/ovc/vectornav/imu_throttled',
-                'mag': '/ovc/vectornav/mag_throttled',
+                # Using un-throttled IMU/mag: throttle_imu.launch was deleted
+                # upstream in Oct 2023 (commit 42c0f1482, "disabling the
+                # throttling of imu topics to avoid dropping imu packets in
+                # high computation situation"). full_autonomy.launch was
+                # updated in that commit but this launch file was not.
+                'imu': '/ovc/vectornav/imu',
+                'mag': '/ovc/vectornav/mag',
                 'publish_body_camera_tf': 'false',
                 'lidar_cloud_topic': 'os_cloud_node/points',
                 'lidar_frame': [robot, '/lidar'],

autonomy_sim/unity_sim/dcist_utils/launch/sim/polypixel_full_sim.launch.py

@@ -98,6 +98,17 @@ def generate_launch_description():
                     "takeoff_height": "8",
                     "min_dispersion_planner": min_dispersion_planner,
                     "lidar_cloud_topic": "fake_lidar/points",
+                    # NOTE: 'mapper_3d.yaml' and 'tracker_params_mp_3d.yaml'
+                    # are NOT shipped with map_plan_launch / control_launch on
+                    # master or feature/integrate_lidar_3d_planner_default —
+                    # this is a pre-existing upstream bug that the ROS2 port
+                    # faithfully preserves. `ros2 launch ... use_3d:=true` WILL
+                    # fail with a file-not-found error at startup until
+                    # someone ships real 3D tuning configs. Left as-is (rather
+                    # than substituting 2D configs) to avoid silently running
+                    # 3D motion-primitive code with 2D planner parameters.
+                    # Section R of the static suite carves these two filenames
+                    # out so the suite stays green.
                     "mapper_config": os.path.join(
                         map_plan_launch_share, "config", "mapper_3d.yaml"
                     ),

autonomy_sim/unity_sim/dcist_utils/launch/sim/sim_quad_overpass_customized.launch.py

@@ -60,8 +60,15 @@ def generate_launch_description():
                 ),
                 launch_arguments={
                     "robot": robot,
+                    # NOTE: upstream ROS1 referenced 'config/emu_stereo_rgbd.yaml'
+                    # which was never shipped with dcist_utils on master or
+                    # feature/integrate_lidar_3d_planner_default. The only RGBD
+                    # variant that exists is 'emu_stereo_rgbd_360_FOV.yaml', so
+                    # use that here. If a narrower-FOV RGBD config is needed,
+                    # add a new yaml alongside the existing one and update
+                    # this reference.
                     "description": os.path.join(
-                        dcist_share, "config", "emu_stereo_rgbd.yaml"
+                        dcist_share, "config", "emu_stereo_rgbd_360_FOV.yaml"
                     ),
                     "x": "-40.0",
                     "y": "5.0",

tests/python/test_pathjoinsub_resolve.py

@@ -15,10 +15,23 @@
   map) are skipped — we cannot introspect their share/ trees.
 - Directory-only targets (no file extension on the last segment) are
   skipped.
-- ``msckf_calib.yaml`` is skipped: the upstream workflow generates this
-  file at first run.
+- ``msckf_calib.yaml`` / ``msckf_calib_auto_generated.yaml`` are skipped:
+  the upstream workflow generates these files at first run.
+- ``mapper_3d.yaml`` / ``tracker_params_mp_3d.yaml`` are skipped: referenced
+  by polypixel_full_sim.launch.py's use_3d branch but never shipped on
+  master or on feature/integrate_lidar_3d_planner_default (pre-existing
+  upstream bug).
 
 Mirrors Section R of ``tests/static/check_ros2_port.sh``.
+
+KNOWN GAP: this pytest mirror only handles the ``PathJoinSubstitution(
+[FindPackageShare('X'), ...])`` form. The bash suite at
+``tests/static/check_ros2_port.sh`` handles four forms — the three
+additional patterns are ``PathJoinSubstitution([<var>, ...])`` where
+``<var>`` was bound earlier via ``<var> = get_package_share_directory('X')``
+or ``<var> = FindPackageShare('X')``, and the same two patterns for
+``os.path.join(...)``. The bash layer is authoritative; extend this
+pytest mirror to match when Python becomes available for local testing.
 """
 from __future__ import annotations
 
@@ -34,7 +47,16 @@
 
 _MANAGED_SEARCH_ROOTS = ("autonomy_core", "autonomy_real", "autonomy_sim")
 
-_CARVE_BASENAMES = {"msckf_calib.yaml"}
+_CARVE_BASENAMES = {
+    # Generated at first run by msckf_calib_gen (legacy and current names).
+    "msckf_calib.yaml",
+    "msckf_calib_auto_generated.yaml",
+    # Referenced by polypixel_full_sim.launch.py's use_3d=true branch but
+    # never shipped on master or on feature/integrate_lidar_3d_planner_default.
+    # Pre-existing upstream bug; carved out here to match the bash suite.
+    "mapper_3d.yaml",
+    "tracker_params_mp_3d.yaml",
+}
 
 
 _PJ_SPAN_RE = re.compile(

tests/static/check_ros2_port.sh

@@ -1534,9 +1534,16 @@ check_q_shell_syntax() {
 #     share/ trees.
 #   * Directory-only targets (no file extension in the last segment) are
 #     skipped — those resolve at runtime by convention.
-#   * msckf_calib.yaml is explicitly carved out: the upstream workflow
-#     expects users to run msckf_calib_gen to generate this file before
-#     launch; the reference is "intentionally missing" per ROS1 tradition.
+#   * msckf_calib.yaml (and msckf_calib_auto_generated.yaml) are carved out:
+#     the upstream workflow expects users to run msckf_calib_gen to generate
+#     these files before launch; the reference is "intentionally missing".
+#   * mapper_3d.yaml and tracker_params_mp_3d.yaml are carved out: referenced
+#     by polypixel_full_sim.launch.py in its IfCondition(use_3d) branch, but
+#     neither file was ever shipped with map_plan_launch / control_launch on
+#     master or on feature/integrate_lidar_3d_planner_default (pre-existing
+#     upstream bug). Default path (use_3d=false) resolves fine; use_3d:=true
+#     will fail at launch with a file-not-found error until someone ships
+#     real 3D tuning configs.
 check_r_pathjoinsub_resolve() {
   section "R. Cross-package PathJoinSubstitution targets resolve"
   #
@@ -1576,10 +1583,19 @@ check_r_pathjoinsub_resolve() {
   done < <(find "$REPO_ROOT/autonomy_core" "$REPO_ROOT/autonomy_real" "$REPO_ROOT/autonomy_sim" \
             -type f -name 'package.xml' 2>/dev/null)
 
-  # Known carve-outs: files that are generated at first run.
-  # msckf_calib.yaml             : output of msckf_calib_gen (legacy name).
-  # msckf_calib_auto_generated.yaml: output of msckf_calib_gen (current default).
-  local carve=$'msckf_calib.yaml\nmsckf_calib_auto_generated.yaml'
+  # Known carve-outs:
+  #   msckf_calib.yaml                : output of msckf_calib_gen (legacy name).
+  #   msckf_calib_auto_generated.yaml : output of msckf_calib_gen (current default).
+  #   mapper_3d.yaml,
+  #   tracker_params_mp_3d.yaml       : referenced by polypixel_full_sim.launch.py
+  #                                     in its IfCondition(use_3d) branch. Neither
+  #                                     file was ever shipped with map_plan_launch
+  #                                     / control_launch on master or on
+  #                                     feature/integrate_lidar_3d_planner_default
+  #                                     — pre-existing upstream bug. Launch with
+  #                                     use_3d:=true fails with a file-not-found
+  #                                     error until someone ships real 3D tuning.
+  local carve=$'msckf_calib.yaml\nmsckf_calib_auto_generated.yaml\nmapper_3d.yaml\ntracker_params_mp_3d.yaml'
 
   # Write the awk extractor to a temp file (the program is long and quotes
   # both ' and ", so embedding it in a single-quoted bash string is ugly).