Merge remote-tracking branch 'origin/feature/sdg/ros2-actions' into feature/sdg/ros2-actions

Author: stex2005

.gitignore

@@ -178,4 +178,7 @@ pyrightconfig.json
 .vs/
 
 # camera
-/camera/*
+camera/*
+
+# tests
+tests/

server.py

@@ -80,26 +80,26 @@ def list_verified_robot_specifications() -> dict:
     )
 )
 def connect_to_robot(
-    ip: Optional[str] = None,
-    port: Optional[Union[int, str]] = None,
+    ip: str = ROSBRIDGE_IP,
+    port: Union[int, str] = ROSBRIDGE_PORT,
     ping_timeout: float = 2.0,
     port_timeout: float = 2.0,
 ) -> dict:
     """
     Connect to a robot by setting the IP and port for the WebSocket connection, then testing connectivity.
 
     Args:
-        ip (Optional[str]): The IP address of the rosbridge server. Defaults to "127.0.0.1" (localhost).
-        port (Optional[int]): The port number of the rosbridge server. Defaults to 9090.
+        ip (str): The IP address of the rosbridge server. Defaults to "127.0.0.1" (localhost).
+        port (int): The port number of the rosbridge server. Defaults to 9090.
         ping_timeout (float): Timeout for ping in seconds. Default = 2.0.
         port_timeout (float): Timeout for port check in seconds. Default = 2.0.
 
     Returns:
         dict: Connection status with ping and port check results.
     """
     # Set default values if None
-    actual_ip = ip if ip is not None else "127.0.0.1"
-    actual_port = int(port) if port is not None else 9090
+    actual_ip = str(ip).strip() if ip else ROSBRIDGE_IP
+    actual_port = int(port) if port else ROSBRIDGE_PORT
 
     # Set the IP and port
     ws_manager.set_ip(actual_ip, actual_port)

utils/robot_specifications/local_rosbridge.yaml

@@ -0,0 +1,13 @@
+# Robot configuration template
+# Replace this text with specific instructions and information about your robot.
+# Include details on how to control it, important topics, and any special commands.
+# For example:
+# - Control commands (e.g., movement, actions)
+# - Sensor topics (e.g., camera, lidar)
+# - Safety guidelines
+# - Any custom messages or services used by the robot
+
+name: local_rosbridge
+alias: turtlesim # Optional alias for easier reference
+type: sim # or 'real' for simulation
+prompts: The local_rosbridge is a generic local turtlesim robot.