Migrate sailing-robot from ROS 1 to ROS 2

[Copilot]

Full port of the sailing-robot stack from ROS 1 (Indigo/catkin/rospy) to ROS 2 (Humble/ament/rclpy). All nodes, launch files, build system, CI, and tests updated.

Build system

• package.xml → format 3, ament_cmake / ament_python
• CMakeLists.txt → ament_cmake with rosidl_generate_interfaces
• setup.py / setup.cfg → ament_python entry-point style
• LatLon → LatLon23 (Python 3 compatible) throughout

Node scripts (~30 nodes)

All scripts converted from procedural rospy.init_node pattern to class-based rclpy.node.Node:

# Before (ROS 1)
rospy.init_node('helming')
rate = rospy.Rate(rospy.get_param('config/rate'))
pub = rospy.Publisher('rudder_angle', Float32, queue_size=10)

# After (ROS 2)
class Helming(Node):
    def __init__(self):
        super().__init__('helming')
        self.declare_parameter('config.rate', 10)
        self.pub = self.create_publisher(Float32, 'rudder_angle', 10)
        rate = self.get_parameter('config.rate').value
        self.create_timer(1.0 / rate, self.timer_callback)

tasks_ros.py library

RosTasksRunner now accepts a node= kwarg instead of calling rospy.Publisher at module level. A _NullPublisher stub allows the class to be instantiated in tests without a live ROS 2 daemon.

xsens_driver/nodes/mtnode.py

Full rewrite: XSensDriver(Node), all publishers created upfront in __init__, device polling moved to a create_timer callback, tf.transformations → tf_transformations with pure-math fallback, Python 3 q_mult tuple-arg syntax fixed, Header.seq removed (dropped in ROS 2).

Launch files

All XML .launch files replaced with Python .launch.py equivalents using launch_ros.actions.Node and IncludeLaunchDescription.

CI

.travis.yml rewritten for ROS 2 Humble on Ubuntu 22.04, using colcon build and pytest instead of catkin_make and catkin_make run_tests.

Tests

• nose.tools.assert_equal / assert_almost_equal → plain assert + pytest.approx
• rostests/test_1.py converted from rostest/rospy to a pytest unittest.TestCase using rclpy directly, with @unittest.skipUnless(ROS2_AVAILABLE, ...) guard
• All 27 pure-Python unit tests pass

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