feat: introduce webots demo package for rust robonix framework #16

enkerewpo · 2026-01-04T06:39:38Z

add example webots package
add Qwen-VL and Deepseek agent as map service impl
refactor robonix-core modules
add performance profiling and testing framework under tools

- Added a new webots demo package with various scripts for controlling a mobile robot. - Implemented demo service provider with semantic map and task planning services. - Updated demo recipe to reflect new package names and services. - Adjusted file permissions for several scripts to ensure proper execution. - Included necessary configuration files and documentation for the new package.

- Introduced a web-based management interface for robonix-core, allowing real-time monitoring and control. - Implemented a TF monitor to parse and visualize the ROS2 TF tree data. - Added logging functionality with a buffer to capture and display logs in the web GUI. - Updated the main application to initialize the web GUI and handle web server tasks. - Enhanced the existing Rust modules with new dependencies and improved structure for better maintainability.

- Renamed demo service from `demo_service` to `demo_service_provider` for clarity. - Updated `.env.example` to include new API keys for Qwen3-VL and DeepSeek services. - Added `.gitignore` to exclude unnecessary files and directories. - Enhanced `README.md` with detailed service descriptions and configuration instructions. - Improved `setup.py` to include additional dependencies for image processing and API interaction. - Refactored `semantic_map_service.py` to implement real object detection using Qwen3-VL and front camera integration. - Added test scripts for ping service and querying primitives to ensure functionality. - Cleaned up startup scripts for better readability and efficiency.

change to String fixes everything

Add preferred and alternative RUST_LOG configurations for robonix-core

- Introduced an Image Monitor module to track and store images from ROS2 topics. - Updated web GUI to display image topics and allow image retrieval. - Enhanced existing scripts and configurations for better integration with the new image monitoring feature. - Improved error handling and logging for image processing tasks. - Updated dependencies in Cargo.toml and Cargo.lock to support new functionalities.

- Commented out build commands in the test script for clarity. - Improved service call methods in DaemonRos2Clients to include retry logic and service discovery waiting. - Enhanced error messages for service call timeouts and failures to guide users in troubleshooting. - Updated QoS settings for service clients to ensure compatibility with robonix-core.

- Added bash completion support in the Docker entrypoint script. - Updated Dockerfile to include bash-completion and fonts-lmodern. - Enhanced Rust Makefile with new test commands for stress testing and benchmarking. - Introduced new test scripts for querying primitives and ping service load testing. - Updated README and .gitignore files to reflect new test framework structure and ignore unnecessary files. - Improved logging and error handling in test scripts for better diagnostics.

…unctionality

Copilot

Pull request overview

This PR introduces a comprehensive test framework and web GUI for the Robonix framework, along with modular reorganization of the codebase and integration of a Webots demo package for simulation.

Changes:

Added a multi-language test framework (Rust, Python, C++) for stress testing ROS2 service performance
Introduced a web-based GUI for monitoring and managing Robonix core components
Reorganized codebase into modular directories (perception, cognition, action) with separate specification files
Added Webots simulation demo package for RangerMiniV3 robot

Reviewed changes

Copilot reviewed 122 out of 158 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
rust/tools/test_framework/*	Stress test framework with benchmark reporting and visualization
rust/robonix-core/web_gui/*	Web GUI with static assets (HTML, CSS, JS) for system monitoring
rust/robonix-core/src/web_gui.rs	Web server implementation with REST API endpoints
rust/robonix-core/src/perception/*	Perception module with TF, topic, and image monitoring
rust/robonix-core/src/cognition/*	Cognition module with task planning specs
rust/robonix-core/src/action/*	Action module with skill library and motion specs
rust/provider/webots_demo_package/*	Webots simulation package for RangerMiniV3 robot
rust/robonix-core/src/main.rs	Updated main to initialize web GUI and monitoring components
rust/robonix-core/src/service/mod.rs	Changed metadata storage from JSON value to string

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Copilot · 2026-01-12T10:56:11Z

rust/tools/test_framework/analyze.py

+        if metadata.get('requests'): parts.append(f"Reqs: {metadata['requests']}")
+        if metadata.get('rate'): parts.append(f"Rate: {metadata['rate']}Hz")
+        if metadata.get('duration'): parts.append(f"Dur: {metadata['duration']}s")


The metadata dictionary access could raise KeyError if the dictionary is malformed. Use .get() consistently with a default value or validate metadata structure before accessing.

Suggested change

if metadata.get('requests'): parts.append(f"Reqs: {metadata['requests']}")

if metadata.get('rate'): parts.append(f"Rate: {metadata['rate']}Hz")

if metadata.get('duration'): parts.append(f"Dur: {metadata['duration']}s")

requests = metadata.get('requests')

if requests:

parts.append(f"Reqs: {requests}")

rate = metadata.get('rate')

if rate:

parts.append(f"Rate: {rate}Hz")

duration = metadata.get('duration')

if duration:

parts.append(f"Dur: {duration}s")

rust/tools/test_framework/report.py

Copilot · 2026-01-12T10:56:12Z

rust/robonix-core/src/perception/image_monitor.rs

+                            let (r, g, b) = if encoding_lower == "bgr8" || encoding_lower == "8uc3"
+                            {
+                                (b, g, r) // Swap R and B for BGR
+                            } else {
+                                (r, g, b)
+                            };


The comment states '8uc3' is BGR format, but this encoding typically refers to 3-channel unsigned 8-bit format without specifying color order. Add documentation or a source reference explaining why 8uc3 is treated as BGR.

Copilot · 2026-01-12T10:56:12Z

rust/robonix-core/src/action/skill_library/skill.rs

+                skill_id: String::new(),
+            };
+        }
+        if serde_json::from_str::<serde_json::Value>(&req.metadata).is_err() {


The error from JSON parsing is discarded. Consider logging the actual parse error for debugging purposes, similar to how it was done in the original code (lines 71-72 show the pattern).

- Commented out the build command in `start_robot.sh` and replaced it with a call to `./rbnx/build.sh`. - Updated logging levels in `four_wheel_steering_controller.cpp` from DEBUG to INFO for improved clarity in odometry and command updates. - Removed unused navigation and SLAM configuration files from the `setup.py` and deleted associated resource files. - Adjusted mappings in `robot_launch.py` for better command and odometry topic handling. - Enhanced `ros2_control.yml` parameters for the four-wheel steering controller to improve responsiveness and control limits. - Cleaned up RViz configuration in `default.rviz` for better visualization management.

- Updated `start_robot.sh` to accept parameters for world, RViz, navigation, and RTAB-Map settings. - Added new dependencies for RTAB-Map and navigation in `build.sh` and `package.xml`. - Introduced a new `camera_info_publisher.py` to publish camera info for RGB and depth cameras. - Modified `robot_launch.py` to integrate RTAB-Map nodes and camera info publisher. - Removed obsolete `test_launch.py` and `tiago_bringup_webots.urdf` files to streamline the project structure. - Adjusted RViz configuration for improved visualization and usability.

- Introduced `.gitignore` to exclude build artifacts. - Added `build.sh` and `run.sh` scripts for building and launching the ROS2 package. - Created `description.yml` for package metadata. - Implemented `rviz.config.rviz` for RViz visualization settings. - Added `start_rviz.sh` to launch RViz with the specified configuration. - Included initial files for `eaios_webots` package, including URDF, launch files, and configuration for navigation and control. - Established basic structure for `nav2_webots_tiago` with configuration files for navigation and mapping.

…ities - Added `tiago_demo_package` providing camera, depth, pose, and navigation primitives. - Introduced `navigation_skills_provider` package with wandering and move_to_object skills. - Updated `demo_recipe.yaml` to register new packages and their respective services and skills. - Created necessary scripts for starting and stopping skills, including pose conversion and navigation. - Enhanced RViz configuration for better visualization of the Tiago robot's capabilities. - Implemented build scripts for both `tiago_demo_package` and `navigation_skills_provider` to streamline deployment.

…viders - Refactored service names in `demo_recipe.yaml` and `rbnx_manifest.yaml` to include `srv::` prefix for consistency. - Updated skill names in `navigation_skills_provider` to use `skl::` prefix, enhancing clarity in skill identification. - Introduced `kill.sh` script for terminating processes related to the ROS2 environment. - Enhanced `test_cli.sh` with additional task creation examples for better usability. - Modified `move_to_object_skill.py` and `wandering_skill.py` to implement new service querying mechanisms and improved logging. - Adjusted `package.xml` to remove unnecessary dependencies, streamlining the build process. - Updated RViz configuration for improved visualization of the robot's capabilities.

- Added direct executable search for `move_to_object_skill` and `wandering_skill` in their respective scripts, enhancing execution reliability. - Updated fallback mechanisms to prioritize executable paths before resorting to ROS2 commands and Python scripts. - Removed the unused `std_msgs` module and its references from the project, streamlining the codebase. - Enhanced logging for skill execution to provide clearer feedback during runtime.

…port - Introduced a new function to set thread real-time priority using SCHED_FIFO for improved responsiveness. - Refactored core API handlers to run on dedicated high-priority threads, ensuring better performance during service requests. - Added `libc` dependency to facilitate real-time scheduling on Linux. - Updated logging to provide feedback on thread priority settings and potential issues.

…ller

- Added a new `StdString` struct to represent string messages in ROS2, implementing the `Message` trait for compatibility. - Updated `RtdlExecutor` to utilize `StdString` for publishing and subscribing to messages, enhancing type safety and clarity in message handling. - Modified message handling logic to access the string data directly from the new struct.

enkerewpo added 2 commits January 4, 2026 05:10

enkerewpo force-pushed the dev/rust branch from 67f6448 to 5cd5203 Compare January 4, 2026 09:00

enkerewpo added 4 commits January 4, 2026 09:35

feat: add topic monitoring functionality to robonix-core

aa69ef1

fix: fix RustDDS AService response bug

5fbd354

change to String fixes everything

docs: update README with RUST_LOG configs

462b3a2

Add preferred and alternative RUST_LOG configurations for robonix-core

enkerewpo force-pushed the dev/rust branch from 5286c92 to 462b3a2 Compare January 4, 2026 12:09

enkerewpo added 4 commits January 5, 2026 04:21

fix: fixed multiple rbnx/core node bug

ae7304a

enkerewpo force-pushed the dev/rust branch from b7b21f3 to 7027291 Compare January 11, 2026 14:16

enkerewpo added 4 commits January 12, 2026 02:07

refactor: reorganize robonix-core modules and enhance skill library f…

cc37da6

…unctionality

feat: enhance test framework and service integration

91e085a

feat: enhance font handling and reporting in test framework

c82d062

Merge branch 'main' into dev/rust

5b070a6

enkerewpo requested a review from Copilot January 12, 2026 10:54

Copilot AI reviewed Jan 12, 2026

View reviewed changes

enkerewpo added 10 commits January 17, 2026 09:47

fix: fixed webots ranger mini control bug when steering

6b7e807

feat: add ranger mini v3 demo package with four wheel steering contro…

8b2dcf4

…ller

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-        if metadata.get('requests'): parts.append(f"Reqs: {metadata['requests']}")
-        if metadata.get('rate'): parts.append(f"Rate: {metadata['rate']}Hz")
-        if metadata.get('duration'): parts.append(f"Dur: {metadata['duration']}s")
+        requests = metadata.get('requests')
+        if requests:
+            parts.append(f"Reqs: {requests}")
+        rate = metadata.get('rate')
+        if rate:
+            parts.append(f"Rate: {rate}Hz")
+        duration = metadata.get('duration')
+        if duration:
+            parts.append(f"Dur: {duration}s")

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enkerewpo commented Jan 4, 2026 •

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