ci: try roslibpy websockets-asyncio branch with ROSLIBPY_TRANSPORT=asyncio

Pin roslibpy to the websockets-asyncio branch (new asyncio/websockets
transport) and opt the integration job into it via ROSLIBPY_TRANSPORT.
Drop the two `# doctest: +SKIP` markers on the RosClient examples so
we actually exercise the live path again.

Validation only — not for merge as-is. Reverts the temporary +SKIP from
2cc6602 and the lifecycle-fixes pin from b64d020.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

Author: gonzalocasas

.github/workflows/integration.yml

@@ -45,6 +45,9 @@ jobs:
         # doctests embedded in `src/compas_fab/` modules.
         env:
           COMPAS_FAB_RUN_ROS_INTEGRATION_TESTS: "1"
+          # Opt the whole suite into roslibpy's new asyncio transport
+          # (websockets-based) instead of the historical twisted reactor.
+          ROSLIBPY_TRANSPORT: asyncio
         run: |
           pytest --doctest-modules
 

requirements.txt

@@ -1,3 +1,3 @@
 compas >= 2.3, < 3
 compas_robots >= 1, < 2
-roslibpy >= 2.0, < 3
+roslibpy[asyncio] @ git+https://github.com/gramaziokohler/roslibpy.git@websockets-asyncio

src/compas_fab/backends/ros/client.py

@@ -159,7 +159,7 @@ class RosClient(Ros, ClientInterface):
 
     Examples
     --------
-    >>> with RosClient() as client:  # doctest: +SKIP
+    >>> with RosClient() as client:
     ...     print("Connected:", client.is_connected)
     Connected: True
     """
@@ -254,7 +254,7 @@ def load_robot_cell(
 
         Examples
         --------
-        >>> with RosClient() as client:  # doctest: +SKIP
+        >>> with RosClient() as client:
         ...     robot_cell = client.load_robot_cell()
         ...     print(robot_cell.robot_model.name)
         ur5_robot