Add mobile-base teleoperation to hangar simulation

[picknik-hal-9000-bot]

[written by AI]

Motivation

The hangar_sim configuration needs a base-only teleoperation target so operators can jog the Ridgeback base without exposing arm joints. Addresses PickNikRobotics/moveit_pro#21522.

needs: moveit_pro/#21811

Brief description

Adds a distinct mobile_base planning group spanning the planar X, Y, and yaw joints from world to ridgeback_base_link. A dedicated velocity-force controller claims only those base command interfaces, is loaded but inactive at startup, and is mapped to the planar Pose Jog layout introduced by the paired MoveIt Pro PR.

The planning-group and controller configuration—not UI hiding—enforces that selecting mobile_base cannot command arm joints.

How it was tested

• 43/43 YAML, XML, and cross-file semantic checks passed.
• Verified the base-only chain, controller resources, acceleration limits, planar Pose Jog mapping, and inactive-at-startup behavior.
• Applicable pre-commit checks passed with 9 hooks passed, 10 skipped, and 0 failed; Node/Docker hooks were unavailable in the test environment.
• Robot and simulator launch was intentionally not run during static validation.

Release notes

• Enhancement: Added planar mobile-base teleoperation to the hangar_sim configuration.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Team

Run ID: 03f87808-6fca-4ed4-b206-b9635257d750

📥 Commits

Reviewing files that changed from the base of the PR and between dcf91ac and a1478c9.

📒 Files selected for processing (1)

• src/hangar_sim/config/control/picknik_ur.ros2_control.yaml

Included review availability: 7 reviews are currently available. Your included PR review attempts over the past 7 days set your current allowance at 8 reviews per hour.

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📝 Summary

Summary by CodeRabbit

• New Features
  • Added mobile-base motion control using velocity and force commands.
  • Added mobile-base support to MoveIt planning and PoseJog controls.
  • Added planar D-pad controls for mobile-base movement.
  • Configured velocity and acceleration limits, command timeouts, and other motion safeguards.
  • The new controller is available but inactive at startup.

Walkthrough

Changes

The configuration adds a mobile-base velocity-force controller, defines the corresponding MoveIt planning group, and connects both to PoseJog with planar D-pad controls.

Mobile base control

Layer / File(s)	Summary
Controller registration and limits src/hangar_sim/config/config.yaml, src/hangar_sim/config/control/picknik_ur.ros2_control.yaml	Registers and configures mobile_base_velocity_force_controller, including its joints, velocity interface, frames, limits, timeout, and inactive startup state.
MoveIt mobile-base group src/hangar_sim/config/moveit/picknik_ur.srdf	Adds the mobile_base group from world to ridgeback_base_link.
PoseJog mobile-base integration src/hangar_sim/config/moveit/pose_jog.yaml	Adds the mobile-base planning group, controller, and planar D-pad layout.

Priority: ⬇️ Low

Merge Risk: ⚪ Minimal · up to a1478

The mobile-base controller is activated by the supported teleoperation workflow, leaving no identified merge-blocking risk.

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The pull request description directly matches the changes. It explains the new mobile_base planning group, velocity-force controller, Pose Jog mapping, startup state, validation, and testing scope.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Human Review Check	✅ Passed	PASS. The PR changes only four src/hangar_sim/config files and adds a mobile-base controller, MoveIt group, and Pose Jog mapping. The diff does not change authentication, permissions, secrets, CI/CD…

✨ Finishing Touches 💡 1

🛠️ Fix failing CI checks 💡

• Create stacked PR
• Commit on current branch

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_{Comment @coderabbitai help to get the list of available commands.}

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ❌ jazzy: no report produced — see run logs
• hangar_sim
  • ❌ jazzy: no report produced — see run logs

[marioprats]

This change itself is fine and could be merged independently of moveit_pro/#21811
But only the X/Y/Yaw buttons of PoseJog will respond when the base is selected