Merge infrastructure improvements from diffbot_spec

- Add complete Docker dependency list (xacro, robot-state-publisher, etc)
- Fix launch files: remove incorrect PathJoinSubstitution wrapper around FindExecutable
- Add velocity limits to my_robot config for safety (max 0.5 m/s linear, 1.0 rad/s angular)
- Update docker_run.sh to handle both 'docker compose' and 'docker-compose' commands

Protocol-specific changes remain on diffbot_spec branch only.

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

Author: yconst

README.md

@@ -123,6 +123,13 @@ docker exec -it tinymovr_ros2 bash
 
 # Inside container: Install dependencies
 apt update && apt install -y \
+  python3-pip \
+  python3-colcon-common-extensions \
+  iproute2 \
+  ros-humble-ament-package \
+  ros-humble-rosidl-typesupport-c \
+  ros-humble-rosidl-typesupport-cpp \
+  ros-humble-rosidl-default-generators \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-xacro \

config/my_robot_config.yaml

@@ -42,3 +42,19 @@ diff_drive_controller:
     use_stamped_vel: false
     velocity_rolling_window_size: 10
     position_feedback: false
+
+    # Velocity limits (SAFETY)
+    linear:
+      x:
+        has_velocity_limits: true
+        max_velocity: 0.5  # m/s - adjust based on your robot
+        min_velocity: -0.5
+        has_acceleration_limits: true
+        max_acceleration: 1.0  # m/s^2
+        min_acceleration: -1.0
+    angular:
+      z:
+        has_velocity_limits: true
+        max_velocity: 1.0  # rad/s - adjust based on your robot
+        has_acceleration_limits: true
+        max_acceleration: 2.0  # rad/s^2

docker_run.sh

@@ -32,7 +32,7 @@ echo "Container started. To enter the container:"
 echo "  docker exec -it tinymovr_ros2 bash"
 echo ""
 echo "Once inside, build and run your robot:"
-echo "  apt update && apt install -y ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-xacro ros-humble-robot-state-publisher ros-humble-teleop-twist-keyboard"
+echo "  apt update && apt install -y python3-pip python3-colcon-common-extensions iproute2 ros-humble-ament-package ros-humble-rosidl-typesupport-c ros-humble-rosidl-typesupport-cpp ros-humble-rosidl-default-generators ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-xacro ros-humble-robot-state-publisher ros-humble-teleop-twist-keyboard"
 echo "  cd /workspace"
 echo "  source /opt/ros/humble/setup.bash"
 echo "  colcon build --packages-select tinymovr_ros"

launch/my_robot.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
     # Get URDF via xacro - using MY_ROBOT configuration
     robot_description_content = Command(
         [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            FindExecutable(name="xacro"),
             " ",
             PathJoinSubstitution(
                 [FindPackageShare("tinymovr_ros"), "urdf", "my_robot.urdf.xacro"]

launch/tinymovr_diffbot_demo.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
     # Get URDF via xacro
     robot_description_content = Command(
         [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            FindExecutable(name="xacro"),
             " ",
             PathJoinSubstitution(
                 [FindPackageShare("tinymovr_ros"), "urdf", "tinymovr_diffbot.urdf.xacro"]