Booster

[AlexWUrobot]

Overview

[Provide a brief overview of the changes in this pull request.]
(If applicable, linked issue: [ ])

Type of change

• Bug fix
• New feature
• Documentation improvement
• Bounty issue submission
• Other:

Changes

[Detail the changes you have made in this pull request. Include any new features, bug fixes, or improvements.]

Checklist

• Code complies with style guidelines
• Self-review completed
• Documentation updated (if applicable)
• Local testing completed
• Tests added/updated (if applicable)

Impact

[Explain the impact of your changes. Include any potential risks or side effects that reviewers should be aware of.]

Additional Information

[Include any additional information that may be relevant to reviewers. This could include links to related issues or pull requests, references to documentation, or other context that may help reviewers understand your changes.]

[Copilot]

Pull request overview

Adds Booster (K1) Zenoh/ROS2 bridge support and associated tooling to send movement RPC commands and consume odometry via a new Odometer message, plus configs/scripts to exercise the integration.

Changes:

• Introduce Booster IDL message wrappers (Odometer, RPC request/response, RemoteControllerState) and export them via zenoh_msgs.
• Add a K1 odometry provider and Booster autonomy action connector that calls movement via Zenoh query/reply to a ROS2 service bridge.
• Add hardware-test scripts and new/updated configs for Booster autonomy + Zenoh diagnostics.

Reviewed changes

Copilot reviewed 17 out of 17 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
system_hw_test/zenoh_echo.py	Utility to subscribe/pretty-print Zenoh topics with basic deserialization.
system_hw_test/test_booster_zenoh_odom_sub.py	Minimal subscriber script to verify odom topic traffic.
system_hw_test/test_booster_move_zenoh_service.py	Test client for sending movement RPC commands via Zenoh query/reply.
system_hw_test/test_booster_move.py	Test client for sending direct remote-controller-style movement messages.
system_hw_test/booster_zenoh_ros2_bridge.py	ROS2↔Zenoh bridge for odom/paths topics and RPC service query handling.
system_hw_test/booster_zenoh_mock.py	Mock Zenoh query responder for booster RPC service testing.
src/zenoh_msgs/idl/booster_interface.py	Adds Booster-specific IDL structs (odometer + RPC wrappers + controller state).
src/zenoh_msgs/idl/init.py	Re-exports Booster IDL types from zenoh_msgs.idl.
src/zenoh_msgs/init.py	Re-exports Booster IDL types at top-level zenoh_msgs.
src/providers/k1_odom_provider.py	New Zenoh-based odom provider that publishes OdomProviderBase.position.
src/inputs/plugins/unitree_go2_battery.py	Adjusts Go2 battery subscriber topic/type (currently broken).
src/inputs/plugins/booster_odom.py	New input plugin that surfaces Booster odom/movement status to the fuser.
src/actions/move_k1_autonomy/interface.py	Adds Booster movement action interface (LLM-facing enum + IO dataclasses).
src/actions/move_k1_autonomy/connector/k1_sdk.py	Implements movement connector using Zenoh RPC service + odom gating/safety logic.
config/greeting_local.json5	Updates greeting local config (currently contains merge-conflict markers).
config/greeting.json5	Changes greeting config globals (switches away from env interpolation).
config/booster_autonomy.json5	New autonomy config for Booster using BoosterOdom + move_k1_autonomy.

[Copilot]

This file contains unresolved git merge-conflict markers (<<<<<<<, =======, >>>>>>>), which makes the JSON5 invalid and will break config loading. Resolve the conflict and keep a single intended value for api_key and unitree_ethernet.

Suggested change

	<<<<<<< HEAD
	api_key: "openmind_free",
	unitree_ethernet: "",
	=======
	api_key: "${OM_API_KEY:-openmind_free}",
	unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",
	>>>>>>> origin/main
	api_key: "${OM_API_KEY:-openmind_free}",
	unitree_ethernet: "${UNITREE_ETHERNET:-enP2p1s0}",

[Copilot]

api_key and unitree_ethernet were changed from env-interpolated values to hard-coded strings. This breaks the established pattern used across other configs (e.g., config/conversation.json5) and makes it harder to run in different environments without editing tracked files; consider restoring ${OM_API_KEY:-...} / ${UNITREE_ETHERNET:-...} here (and keeping hard-coded defaults only in *_local configs if needed).

Suggested change

	api_key: "openmind_free",
	unitree_ethernet: "",
	api_key: "${OM_API_KEY:-openmind_free}",
	unitree_ethernet: "${UNITREE_ETHERNET:-}",

[Copilot]

The timeout parameter on _call_service() is ignored: session.get(..., timeout=5.0) uses a hard-coded value instead of the function argument. Use the timeout parameter (or remove it) so callers can control service-call timeouts consistently.

Suggested change

	timeout=5.0,
	timeout=timeout,

[Copilot]

BmsState_ is referenced when creating the ChannelSubscriber, but it is never imported or defined (including in the ImportError fallback). This will raise a NameError at runtime; if the intent is to switch from LowState_ to a BMS-only message, update the imports/fallback stubs and ensure LowStateMessageHandler matches the subscribed message type.

Suggested change

	self.lowstate_subscriber = ChannelSubscriber("rt/_BmsState_", BmsState_) # type: ignore
	self.lowstate_subscriber = ChannelSubscriber("rt/_BmsState_", LowState_) # type: ignore

[codecov]

❌ 2 Tests Failed:

Tests completed	Failed	Passed	Skipped
3144	2	3142	0

View the top 2 failed test(s) by shortest run time

tests/config/schema_test.py::test_json_file_valid[/home/runner/work/OM1/OM1/tests/config/../../config/greeting_local.json5]

Stack Traces | 0.007s run time

json_file = '.../tests/config/../../config/greeting_local.json5'
single_mode_schema = {'$schema': 'http://json-schema.org/draft-07/schema#', 'additionalProperties': True, 'properties': {'URID': {'type': '...rray'}, ...}, 'required': ['version', 'hertz', 'name', 'api_key', 'system_prompt_base', 'system_governance', ...], ...}
multi_mode_schema = {'$schema': 'http://json-schema.org/draft-07/schema#', 'additionalProperties': False, 'definitions': {'cortex_llm': {'...tions/cortex_llm'}, 'default_mode': {'description': 'The mode to initialize on startup.', 'type': 'string'}, ...}, ...}

    @pytest.mark.parametrize("json_file", get_all_json_files())
    def test_json_file_valid(json_file, single_mode_schema, multi_mode_schema):
        with open(json_file) as f:
>           data = json5.load(f)

tests/config/schema_test.py:39: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.venv/lib/python3.10....../site-packages/json5/lib.py:99: in load
    return loads(
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

s = '{\n  // Configuration version\n  version: "v1.0.3",\n\n  // Mode system configuration for Unitree Go2\n  default_mode...itions: { greeting_conversation_finished: true },\n      priority: 0,\n      cooldown_seconds: 5.0,\n    },\n  ],\n}\n'

    def loads(
        s: str,
        *,
        encoding: Optional[str] = None,
        cls: Any = None,
        object_hook: Optional[Callable[[Mapping[str, Any]], Any]] = None,
        parse_float: Optional[Callable[[str], Any]] = None,
        parse_int: Optional[Callable[[str], Any]] = None,
        parse_constant: Optional[Callable[[str], Any]] = None,
        strict: bool = True,
        object_pairs_hook: Optional[
            Callable[[Iterable[Tuple[str, Any]]], Any]
        ] = None,
        allow_duplicate_keys: bool = True,
    ):
        """Deserialize ``s`` (a string containing a JSON5 document) to a Python
        object.
    
        Supports the same arguments as ``json.load()`` except that:
            - the `cls` keyword is ignored.
            - an extra `allow_duplicate_keys` parameter supports checking for
              duplicate keys in a object; by default, this is True for
              compatibility with ``json.load()``, but if set to False and
              the object contains duplicate keys, a ValueError will be raised.
        """
    
        assert cls is None, 'Custom decoders are not supported'
    
        if isinstance(s, bytes):
            encoding = encoding or 'utf-8'
            s = s.decode(encoding)
    
        if not s:
            raise ValueError('Empty strings are not legal JSON5')
        parser = Parser(s, '<string>')
        ast, err, _ = parser.parse(global_vars={'_strict': strict})
        if err:
>           raise ValueError(err)
E           ValueError: <string>:11 Unexpected "<" at column 2

.venv/lib/python3.10....../site-packages/json5/lib.py:150: ValueError

tests/config/test_config.py::test_configs

Stack Traces | 0.48s run time

def test_configs():
        """Test that all config files can be loaded."""
        config_folder_path = os.path.join(os.path.dirname(__file__), "../../config")
        files_names = [
            entry.name for entry in os.scandir(config_folder_path) if entry.is_file()
        ]
    
        for file_name in files_names:
            if file_name.endswith(".DS_Store"):
                continue
            assert file_name.endswith(".json5")
            with open(os.path.join(config_folder_path, file_name), "r") as f:
>               raw_config = json5.load(f)

tests/config/test_config.py:26: 
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 
.venv/lib/python3.10....../site-packages/json5/lib.py:99: in load
    return loads(
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 

s = '{\n  // Configuration version\n  version: "v1.0.3",\n\n  // Mode system configuration for Unitree Go2\n  default_mode...itions: { greeting_conversation_finished: true },\n      priority: 0,\n      cooldown_seconds: 5.0,\n    },\n  ],\n}\n'

    def loads(
        s: str,
        *,
        encoding: Optional[str] = None,
        cls: Any = None,
        object_hook: Optional[Callable[[Mapping[str, Any]], Any]] = None,
        parse_float: Optional[Callable[[str], Any]] = None,
        parse_int: Optional[Callable[[str], Any]] = None,
        parse_constant: Optional[Callable[[str], Any]] = None,
        strict: bool = True,
        object_pairs_hook: Optional[
            Callable[[Iterable[Tuple[str, Any]]], Any]
        ] = None,
        allow_duplicate_keys: bool = True,
    ):
        """Deserialize ``s`` (a string containing a JSON5 document) to a Python
        object.
    
        Supports the same arguments as ``json.load()`` except that:
            - the `cls` keyword is ignored.
            - an extra `allow_duplicate_keys` parameter supports checking for
              duplicate keys in a object; by default, this is True for
              compatibility with ``json.load()``, but if set to False and
              the object contains duplicate keys, a ValueError will be raised.
        """
    
        assert cls is None, 'Custom decoders are not supported'
    
        if isinstance(s, bytes):
            encoding = encoding or 'utf-8'
            s = s.decode(encoding)
    
        if not s:
            raise ValueError('Empty strings are not legal JSON5')
        parser = Parser(s, '<string>')
        ast, err, _ = parser.parse(global_vars={'_strict': strict})
        if err:
>           raise ValueError(err)
E           ValueError: <string>:11 Unexpected "<" at column 2

.venv/lib/python3.10....../site-packages/json5/lib.py:150: ValueError

To view more test analytics, go to the Test Analytics Dashboard
_{📋 Got 3 mins? Take this short survey to help us improve Test Analytics.}

[openminddev]

Please restore these changes.

[openminddev]

Please solve the conflicts.

[openminddev]

Fix the docstring.

[openminddev]

Please remove it if you don't need it

[openminddev]

Please put all import to the top.

[openminddev]

Please restore it

[openminddev]

Please remove it.

[openminddev]

Please remove it