build(CI): fix ROS2 workspace metadata, GH action checks (Ruff, build conditioned on installed SDKs)

Author: jburo1

.devcontainer/Dockerfile

@@ -54,6 +54,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
  && add-apt-repository ppa:jjriek/rockchip-multimedia \
  && apt-get update && apt-get install -y --no-install-recommends \
     librga2 librga-dev libdrm-dev \
+    ros-${ROS_DISTRO}-behaviortree-cpp \
     ros-${ROS_DISTRO}-cv-bridge \
     ros-${ROS_DISTRO}-image-transport \
     ros-${ROS_DISTRO}-robot-state-publisher \

.github/workflows/ci.yml

@@ -0,0 +1,96 @@
+name: ci
+
+on:
+  push:
+    branches: [master]
+  pull_request:
+  workflow_dispatch: {}
+
+jobs:
+  ros-and-vision:
+    runs-on: ubuntu-24.04
+    container:
+      image: osrf/ros:kilted-desktop-full-noble
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install system deps
+        shell: bash
+        run: |
+          set -eux
+          apt-get update
+          apt-get install -y --no-install-recommends \
+            git \
+            python3-colcon-common-extensions \
+            python3-pip \
+            python3-pytest \
+            python3-ruff \
+            ros-kilted-ament-copyright \
+            ros-kilted-ament-cmake-gtest \
+            ros-kilted-ament-xmllint \
+            ros-kilted-behaviortree-cpp \
+            ros-kilted-nav2-msgs
+
+      - name: Source ROS
+        shell: bash
+        run: |
+          set -eux
+          source /opt/ros/kilted/setup.bash
+          env | grep '^ROS_'
+
+      - name: Ruff
+        shell: bash
+        run: |
+          set -eux
+          ruff check ros_ws/src/analysis ros_ws/src/bringup
+
+      - name: Build ROS packages
+        shell: bash
+        run: |
+          set -eux
+          source /opt/ros/kilted/setup.bash
+          cd ros_ws
+          colcon build --merge-install \
+            --packages-select omniseer_msgs yolo_msgs omniseer_description analysis bringup
+
+      - name: Build vision bridge when SDKs are present
+        shell: bash
+        run: |
+          set -eux
+          if command -v pkg-config >/dev/null \
+            && pkg-config --exists librga \
+            && [ -f /usr/include/rknn_api.h ] \
+            && find /usr/lib /usr/local/lib -name 'librknnrt.so' -print -quit | grep -q .; then
+            source /opt/ros/kilted/setup.bash
+            cd ros_ws
+            colcon build --merge-install --packages-select omniseer_vision_bridge
+          else
+            echo "Skipping omniseer_vision_bridge: librga/RKNN SDK not available in CI image"
+          fi
+
+      - name: Test ROS packages
+        shell: bash
+        run: |
+          set -eux
+          source /opt/ros/kilted/setup.bash
+          cd ros_ws
+          colcon test --merge-install \
+            --packages-select omniseer_description analysis bringup
+          colcon test-result --all --verbose
+
+      - name: Build host vision tests
+        shell: bash
+        run: |
+          set -eux
+          cmake -S vision -B vision/build-ci -DVISION_BUILD_HARNESS=OFF
+          cmake --build vision/build-ci \
+            --target image_buffer_pool_test jsonl_telemetry_test rolling_telemetry_test
+
+      - name: Run host vision tests
+        shell: bash
+        run: |
+          set -eux
+          ctest --test-dir vision/build-ci \
+            -R 'image_buffer_pool_test|jsonl_telemetry_test|rolling_telemetry_test' \
+            --output-on-failure

AGENTS.md

@@ -1,34 +1,54 @@
 # AGENTS.md
 
-Guidance for AI coding agents working in this repository.
+Instructions for Codex agents working in this repository.
 
-## User Preferences
+## Role
 
-- Be concise, direct, and action-oriented.
-- Prefer doing the work over describing the work. Inspect first, then implement, verify, and summarize.
-- Make reasonable assumptions instead of asking unnecessary questions. If a decision has real tradeoffs, present a short recommendation and a small set of options.
-- Keep progress updates brief and informative.
-- Keep final summaries high-signal. Avoid long file-by-file changelogs unless explicitly requested.
-- Prefer fixes that persist across sessions and machines. When possible, encode behavior in repository files instead of one-off local shell state.
-- Match the repository's recent commit style: conventional prefix with an explicit scope, followed by a descriptive sentence. Mention notable secondary changes when helpful.
+- Act as a pragmatic senior engineer, not a narrator.
+- Prefer doing the work over describing the work.
+- The default loop is: inspect, implement, verify, summarize.
 
-## Repository Conventions
+## Decision Rules
 
-- Preserve existing architecture and naming patterns in `vision/`, `ros_ws/src/`, `.devcontainer/`, and related support tooling.
-- Favor Doxygen-style C++ comments to stay aligned with the documented code style.
-- When adding or changing ROS 2 message definitions, update both `package.xml` and `CMakeLists.txt` for the affected package.
-- Prefer focused diffs and targeted validation over broad refactors.
-- Do not commit generated artifacts, machine-specific secrets, or host-only paths unless the change explicitly requires them.
+- Apply Occam's razor: prefer the simplest explanation and the smallest change that fully solves the problem.
+- Prefer targeted fixes over broad refactors.
+- Fix root causes when they are near and clear. Avoid speculative cleanup.
+- Make reasonable low-risk assumptions and continue.
+- Ask only when the decision is materially ambiguous, expensive to reverse, or likely to create user-visible churn.
 
-## Workflow Defaults
+## Communication
 
-- Start by gathering context with targeted searches, diffs, and file reads.
-- Before editing files, briefly state what is being changed.
-- After changes, report what changed, what was verified, and any remaining limitation.
-- If hardware, container, or SBC-specific constraints block full verification, say so clearly instead of implying success.
+- Be concise, direct, and technical.
+- Keep progress updates short, factual, and useful.
+- Do not pad responses with reassurance, ceremony, or obvious narration.
+- Final summaries should cover three things: what changed, what was verified, and what remains uncertain.
+- If presenting options, recommend one first and explain tradeoffs briefly.
 
-## Environment Notes
+## Working Style
 
-- This repository is often used from an SSH-connected SBC and from a devcontainer.
-- If Git pushes fail in a devcontainer because the wrong forwarded GitHub identity is selected, prefer a repo-local `git config core.sshCommand` fix over changing the remote URL globally.
-- Prefer repository-local or clone-local persistence when it helps future sessions without polluting the host machine.
+- Read surrounding code before editing.
+- Match the local style and structure of the code you touch.
+- Preserve existing architecture unless the task clearly requires structural change.
+- Keep diffs focused and reviewable.
+- Do not revert unrelated changes in the worktree.
+- Prefer durable repository changes over one-off local shell state.
+- Preserve or improve logs, telemetry, and failure reporting when changing runtime behavior.
+
+## Verification
+
+- Run the smallest meaningful validation for the change.
+- Prefer targeted builds, tests, lint, or runtime checks over broad expensive sweeps.
+- Do not claim success without verification.
+- If hardware, camera, ROS graph, container, or SBC constraints block full validation, say so explicitly.
+
+## Repository Biases
+
+- This repo spans ROS 2, vision/runtime code, and support tooling; keep cross-file wiring coherent.
+- When changing ROS interfaces, keep definitions, package metadata, and build configuration in sync.
+- Assume the repo may be used from an SBC, over SSH, or in a devcontainer; avoid host-specific assumptions.
+- Do not commit generated artifacts, secrets, or host-only paths unless the task explicitly requires them.
+
+## Commit Style
+
+- When asked to commit, use a conventional prefix with an explicit scope and a descriptive sentence.
+- Mention notable secondary changes when they materially help review.