Operator PC向けROS 2 / RViz監視環境を追加する (#40)

[MrBearing]

概要

Issue #40 に対応し、Ubuntu 26.04 Operator PC 上で Ubuntu 24.04 / ROS 2 Jazzy containerからSANEHAL-2を監視できる環境を追加します。

Robot側のSLAM処理はRaspberry Piで完結させ、Operator側はRVizと診断CLIだけを担当します。

Closes #40

主な変更

• sanehal_operator packageを新設
  • Operator専用RViz launch
  • Map、LaserScan、TF、RobotModel、wheel odometry、slam_toolbox poseを表示
  • raw JT16 PointCloud2はdebug用として定義し、既定では無効
• Ubuntu Noble / ROS 2 JazzyのOperator imageを追加
  • base imageをdigest固定
  • host UID/GIDに合わせた非root user
  • privileged: trueを使用せず、/dev/driと必要groupのみ公開
• Docker Composeによる通常運用を追加
  • Linux host networkでFast DDS discoveryを利用
  • ROS_DOMAIN_ID等を配備時の.envから設定
  • 認証付きX11/XWaylandでRVizを表示し、xhost +は使用しない
• VS Code Dev Containerを追加
  • 通常運用と同じDockerfile/Compose serviceを再利用
• Robot bringupからOperator RViz起動責務を分離
• 通信、QoS、TF、時刻同期、firewall、Wi-Fi再接続、帯域、GUIの診断手順を文書化
• 無線ゲームパッドからSANEHAL-2を安全にteleopできるようにする #41 teleopで再利用するdevice/group拡張方針を文書化

検証

• Operator Docker image build成功
• container内 colcon build --packages-select sanehal_operator 成功
• container内 colcon test --packages-select sanehal_operator 成功
  • 12 tests、0 failures
• Compose base/X11/Dev Containerの docker compose config 成功
• Operator launch引数の展開成功
• 実際のUbuntu Wayland session上で認証付きXWayland経由のRViz起動を確認
  • OpenGL 4.6を認識
  • Couldn't open X displayが発生しないことを確認
• shell構文、Python contract test、git diff --check 成功

実機受け入れで確認する項目

• Raspberry PiとOperator PCを同一LANに置いたtopic/TF discovery
• /map, /scan, /sanehal_base_controller/odom, /pose, RobotModelの表示
• raw PointCloud2無効時/有効時のWi-Fi帯域比較
• Wi-Fi切断中もRobot側SLAMが継続し、再接続後にRViz監視を再開できること
• firewallを有効にした状態でのFast DDS discovery

[MrBearing]

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