Jazzy Issues

[mikeferguson]

TODO:

• [ ] Once the best effort issue is resolved, need to revert QoS overrides in:
  • [ ] ubr1_moveit/simple_grasping.launch.py
  • [ ] ubr1_calibration/capture.yaml
• [ ] See if we can get "joy" node working (likely an SDL issue)
• [ ] Fix driver crash when trajectory cancelled (by STOP button in RVIZ MoveIt2 interface)
• [ ] Determine actual joint acceleration limits

first up: image_pipeline isn't playing nicely:

[component_container-5] [WARN] [1718640918.255160900] [head_camera.rgb_rectify]: New subscription discovered on topic '/head_camera/rgb/image_rect', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container-5] [WARN] [1718640918.255194419] [head_camera.depth_rectify]: New subscription discovered on topic '/head_camera/depth_registered/image_rect', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container-5] [WARN] [1718640918.255420044] [head_camera.points_xyzrgb]: New publisher discovered on topic '/head_camera/rgb/image_rect', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[component_container-5] [WARN] [1718640918.255436014] [head_camera.points_xyzrgb]: New publisher discovered on topic '/head_camera/depth_registered/image_rect', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

$ ros2 topic info /head_camera/rgb/image_rect -v
Type: sensor_msgs/msg/Image

Publisher count: 1

Node name: rgb_rectify
Node namespace: /head_camera
Topic type: sensor_msgs/msg/Image
Topic type hash: RIHS01_d31d41a9a4c4bc8eae9be757b0beed306564f7526c88ea6a4588fb9582527d47
Endpoint type: PUBLISHER
GID: 01.10.42.1f.b6.22.97.a5.02.d9.93.8b.00.00.32.03
QoS profile:
  Reliability: BEST_EFFORT
  History (Depth): KEEP_LAST (5)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 1

Node name: points_xyzrgb
Node namespace: /head_camera
Topic type: sensor_msgs/msg/Image
Topic type hash: RIHS01_d31d41a9a4c4bc8eae9be757b0beed306564f7526c88ea6a4588fb9582527d47
Endpoint type: SUBSCRIPTION
GID: 01.10.42.1f.b6.22.97.a5.02.d9.93.8b.00.00.8f.04
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (10)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite