Use a private netft-cpp core snapshot

[han-xudong]

Summary

Replace the original ROS-specific Net F/T runtime with a private, byte-identical snapshot of netft-cpp v0.1.2 and adapt the ROS 1, ROS 2, diagnostic, CLI, and ros2_control layers to it.

The snapshot comes from netft/netft-cpp tag v0.1.2, commit bb7df8d211ecc36ebc1434da3686897d7b3d73cc. It remains in the upstream netft namespace. The core is built as an internal static target and is not installed, exported, discovered, or fetched as a separate dependency. This release also adopts Apache-2.0 for the complete repository, matching the upstream core.

This also changes the default runtime behavior to read calibration from the sensor when available and converts native Net F/T samples to ROS SI units (N, N*m). Manual counts-per-force and counts-per-torque settings remain available when sensor calibration is disabled.

Related issue

None.

Validation

• pixi run unit
• Relevant ROS build and smoke tests
• Documentation-only change; runtime tests are not applicable

Tested ROS distributions and commands:

• ROS-neutral: pixi run -e test core-test (14/14 passed) and pixi run unit (143 passed, 1 skipped).
• Toolchain compatibility: the fallback path passed 14/14 core tests with GCC 9.5, while the production ros2_control DSO passed its private-symbol audit with GCC 13.3.
• ROS Noetic: pixi run -e noetic build and pixi run -e noetic smoke.
• ROS 2 Humble: pixi run -e humble build, pixi run -e humble smoke, and pixi run -e humble ros2-control-smoke.
• ROS 2 Jazzy: pixi run -e jazzy build, pixi run -e jazzy smoke, and pixi run -e jazzy ros2-control-smoke.
• The broader local ROS 2 matrix also passed on Kilted and Lyrical. Rolling passed all 188 package tests after the final multi-sensor test stabilization.
• Production and installed ros2_control plugin audits found no exported private core/support symbols, no test hooks, and no external Net F/T library dependency.
• A no-.git git archive source tree passed the manifest audit.

Checklist

• The change is focused and contains no unrelated formatting or refactoring.
• Behavior changes include appropriate tests.
• Commands, parameters, interfaces, and safety guidance are documented when affected.
• Repository content is written in English.
• No physical sensor was used, or the test was explicitly authorized and is described below.
• No software bias was issued, or it was authorized and performed while the sensor was stationary, unloaded, and safe.

Hardware validation, if any:

No physical sensor was used. All network integration tests used loopback fake sensors, and no software bias command was issued.

Summary by CodeRabbit

• New Features

  • Added automatic sensor calibration discovery over HTTP, with conversion to Newtons and Newton-metres.
  • Added manual calibration overrides and configurable HTTP connection/timeouts.
  • Updated ROS 1, ROS 2, ros2_control, launch files, and command-line checks to support the new settings.
  • Improved diagnostics, recovery behavior, status reporting, and structured check results.
  • Added broader compatibility for Noetic/GCC 9 and ROS 2 integrations.

• Documentation

  • Updated configuration, calibration, architecture, licensing, and release documentation.

• Bug Fixes

  • Improved reconnect, timeout, fault handling, and calibration-change behavior.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro Plus

Run ID: 21fc6422-a08f-4e3b-8f54-de6eb3a4b5e3

📥 Commits

Reviewing files that changed from the base of the PR and between f7eeb31 and 3377f6e.

📒 Files selected for processing (11)

• CHANGELOG.rst
• CMakeLists.txt
• CONTRIBUTING.md
• LICENSE
• README.md
• package.xml
• pixi.toml
• test/cpp/test_hardware_interface.cpp
• test/cpp/test_ros1_node.cpp
• test/support/fake_sensor.py
• test/test_manifest.py

💤 Files with no reviewable changes (1)

• package.xml

🚧 Files skipped from review as they are similar to previous changes (7)

• pixi.toml
• CHANGELOG.rst
• test/support/fake_sensor.py
• test/test_manifest.py
• test/cpp/test_ros1_node.cpp
• test/cpp/test_hardware_interface.cpp
• CMakeLists.txt

---

📝 Walkthrough

Walkthrough

This release replaces the legacy driver API with a vendored netft core, adding HTTP calibration discovery, recovery-aware streaming, SI conversion, ROS adapter migration, updated build/install wiring, expanded test infrastructure, and integration validation.

Changes

NetFT core and build

Layer / File(s)	Summary
Core contracts and runtime src/core/include/netft/*, src/core/src/*	Adds the netft::Client API, configuration validation, UDP transport, protocol decoding, sequence tracking, status handling, HTTP/XML discovery, calibration revisions, recovery, and fault management.
ROS adapter boundary src/ros/*, src/netft_hardware_interface.cpp, src/ros1_node.cpp, src/ros2_node.cpp	Migrates ROS components to netft types, converts samples to SI units before publication or realtime buffering, and adds HTTP/calibration parameters and diagnostics.
Build and packaging CMakeLists.txt, package.xml, pixi.toml, .github/workflows/coverage.yml	Splits netft_core from netft_ros_support, adds libcurl dependencies, updates installation targets, and adds coverage prerequisites.

Validation and integration

Layer / File(s)	Summary
Core and ROS tests test/core/*, test/cpp/*	Adds coverage for discovery, streaming, recovery, lifecycle, diagnostics, validation, unit conversion, adapter mapping, and ros2_control behavior.
Integration fixtures and audits test/integration/*, test/support/fake_sensor.py	Adds HTTP-port orchestration, symbol/export audits, private-core install checks, structured smoke-test assertions, and fake-sensor calibration serving.
Configuration and documentation README.md, docs/architecture.md, config/*, launch/*, urdf/*, CONTRIBUTING.md	Documents automatic and manual calibration, HTTP configuration, core provenance, licensing, and updated launch/Xacro parameter forwarding.

Estimated code review effort: 5 (Critical) | ~120 minutes

Possibly related PRs

• netft/ros-netft#3: Both changes update the C++ coverage workflow, including core coverage setup and dependency installation.

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 3.37% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title accurately summarizes the main change: replacing the runtime with a private netft-cpp core snapshot.
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.

✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch feat/netft-cpp-core-snapshot

---

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

[codecov]

Codecov Report

❌ Patch coverage is 82.49828% with 255 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
src/core/src/detail/client_impl.cpp	87.04%	35 Missing and 29 partials ⚠️
src/compat/xml_config.cpp	78.40%	16 Missing and 22 partials ⚠️
src/core/src/detail/posix_transport.cpp	55.84%	20 Missing and 14 partials ⚠️
src/core/src/detail/xml_config.cpp	78.76%	15 Missing and 16 partials ⚠️
src/core/src/discovery.cpp	66.66%	15 Missing and 16 partials ⚠️
src/core/src/types.cpp	75.45%	22 Missing and 5 partials ⚠️
src/ros/diagnostics.cpp	88.97%	3 Missing and 12 partials ⚠️
src/check_main.cpp	85.45%	0 Missing and 8 partials ⚠️
src/ros/unit_conversion.cpp	91.11%	2 Missing and 2 partials ⚠️
src/core/src/detail/sequence.cpp	94.73%	0 Missing and 2 partials ⚠️
... and 1 more

📢 Thoughts on this report? Let us know!

[coderabbitai]

Actionable comments posted: 4

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@CMakeLists.txt`:
- Around line 11-12: Update the CURL requirement in the CMake package
configuration from 7.62 to a minimum of 7.63, ensuring builds using
CURLOPT_CURLU satisfy the dependency required by discovery.cpp.

In `@src/core/src/detail/posix_transport.cpp`:
- Around line 98-108: Update the EINTR retry loop around ::poll in receive() to
track elapsed time and recompute the remaining timeout before each retry, rather
than reusing the original timeout_milliseconds(timeout). Return 0 once the
caller-specified timeout has been exhausted, while preserving the existing error
handling for non-EINTR failures.

In `@test/cpp/test_ros1_node.cpp`:
- Around line 32-37: Initialize ROS at the beginning of
MapsEveryAdapterParameterWithManualCalibration with an anonymous node name,
before calling ros::master::check() or constructing the private NodeHandle,
mirroring the initialization in the first test so it runs independently.

In `@test/support/fake_sensor.py`:
- Around line 43-44: Rename the log_message method’s format parameter to a
non-conflicting name while preserving its positional signature and the existing
no-op behavior.

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro Plus

Run ID: 69ebc753-610d-4be8-8296-ebec5545f933

📥 Commits

Reviewing files that changed from the base of the PR and between 8f06673 and 4f66f52.

⛔ Files ignored due to path filters (1)

• pixi.lock is excluded by !**/*.lock

📒 Files selected for processing (101)

• .github/workflows/coverage.yml
• CHANGELOG.rst
• CMakeLists.txt
• CONTRIBUTING.md
• README.md
• config/netft_ros1.yaml
• config/netft_ros2.yaml
• docs/architecture.md
• include/netft_driver/client.hpp
• include/netft_driver/status.hpp
• include/netft_driver/types.hpp
• launch/netft.launch
• launch/netft.launch.py
• launch/netft_ros2_control.launch.py
• package.xml
• pixi.toml
• src/check_main.cpp
• src/client.cpp
• src/core/LICENSE
• src/core/UPSTREAM
• src/core/include/netft/client.hpp
• src/core/include/netft/discovery.hpp
• src/core/include/netft/export.hpp
• src/core/include/netft/status.hpp
• src/core/include/netft/types.hpp
• src/core/src/client.cpp
• src/core/src/detail/client_impl.cpp
• src/core/src/detail/client_impl.hpp
• src/core/src/detail/fault_latch.cpp
• src/core/src/detail/fault_latch.hpp
• src/core/src/detail/posix_transport.cpp
• src/core/src/detail/posix_transport.hpp
• src/core/src/detail/protocol.cpp
• src/core/src/detail/protocol.hpp
• src/core/src/detail/sequence.cpp
• src/core/src/detail/sequence.hpp
• src/core/src/detail/xml_config.cpp
• src/core/src/detail/xml_config.hpp
• src/core/src/discovery.cpp
• src/core/src/status.cpp
• src/core/src/types.cpp
• src/netft_hardware_interface.cpp
• src/protocol.cpp
• src/ros/adapter_config.hpp
• src/ros/diagnostics.cpp
• src/ros/diagnostics.hpp
• src/ros/ros2_control_compat.hpp
• src/ros/ros2_control_test_access.hpp
• src/ros/unit_conversion.cpp
• src/ros/unit_conversion.hpp
• src/ros1_node.cpp
• src/ros2_node.cpp
• src/status.cpp
• test/core/CMakeLists.txt
• test/core/support/fake_http_server.cpp
• test/core/support/fake_http_server.hpp
• test/core/support/fake_sensor.cpp
• test/core/support/fake_sensor.hpp
• test/core/test_client_lifecycle.cpp
• test/core/test_client_recovery.cpp
• test/core/test_client_stream.cpp
• test/core/test_discovery.cpp
• test/core/test_fault_latch.cpp
• test/core/test_protocol.cpp
• test/core/test_sequence.cpp
• test/core/test_status.cpp
• test/core/test_types.cpp
• test/cpp/CMakeLists.txt
• test/cpp/netft_hardware_test_plugins.xml
• test/cpp/support/fake_sensor.cpp
• test/cpp/support/fake_sensor.hpp
• test/cpp/support/ros2_control_test_access.cpp
• test/cpp/test_adapter_config.cpp
• test/cpp/test_check.cpp
• test/cpp/test_client.cpp
• test/cpp/test_diagnostics.cpp
• test/cpp/test_hardware_interface.cpp
• test/cpp/test_protocol.cpp
• test/cpp/test_ros1_node.cpp
• test/cpp/test_ros2_node.cpp
• test/cpp/test_status.cpp
• test/cpp/test_types.cpp
• test/cpp/test_unit_conversion.cpp
• test/integration/audit_ros2_control_symbols.sh
• test/integration/build_package.sh
• test/integration/fake_sensor_process.py
• test/integration/ros1_smoke.sh
• test/integration/ros2_control_isolation_test.sh
• test/integration/ros2_control_smoke.sh
• test/integration/ros2_smoke.sh
• test/integration/ros_graph_assertions.py
• test/support/fake_sensor.py
• test/test_config_validation.py
• test/test_fake_sensor.py
• test/test_gitignore.py
• test/test_launch_validation.py
• test/test_manifest.py
• test/test_ros_graph_assertions.py
• test/test_urdf_validation.py
• test/test_workflow_validation.py
• urdf/netft.ros2_control.xacro

💤 Files with no reviewable changes (13)

• test/cpp/test_protocol.cpp
• test/cpp/test_status.cpp
• test/cpp/test_types.cpp
• include/netft_driver/client.hpp
• src/client.cpp
• test/cpp/test_client.cpp
• include/netft_driver/types.hpp
• src/status.cpp
• src/protocol.cpp
• src/ros/ros2_control_compat.hpp
• test/cpp/support/fake_sensor.hpp
• include/netft_driver/status.hpp
• test/cpp/support/fake_sensor.cpp

[coderabbitai]

🧹 Nitpick comments (1)

src/compat/xml_config.cpp (1)

15-274: 📐 Maintainability & Code Quality | 🔵 Trivial | 🏗️ Heavy lift

Share the XML tokenizer with the canonical parser
src/compat/xml_config.cpp still duplicates the XML tag-scanning and validation logic from src/core/src/detail/xml_config.cpp; only parse_positive_count needs the compat-specific path. Moving extract_required_fields, find_tag_end, and the markup checks into a shared unit would reduce drift risk in the calibration parser.

🤖 Prompt for AI Agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

In `@src/compat/xml_config.cpp` around lines 15 - 274, The XML scanning and
validation logic in extract_required_fields, find_tag_end, and their associated
markup helpers duplicates the canonical parser. Move or reuse these symbols
through a shared tokenizer/parser unit, updating both compat and canonical
parsing paths to use it, while retaining parse_positive_count as the
compat-specific implementation.

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Nitpick comments:
In `@src/compat/xml_config.cpp`:
- Around line 15-274: The XML scanning and validation logic in
extract_required_fields, find_tag_end, and their associated markup helpers
duplicates the canonical parser. Move or reuse these symbols through a shared
tokenizer/parser unit, updating both compat and canonical parsing paths to use
it, while retaining parse_positive_count as the compat-specific implementation.

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: defaults

Review profile: CHILL

Plan: Pro Plus

Run ID: 42178889-878e-4cba-b037-195a69f77c6c

📥 Commits

Reviewing files that changed from the base of the PR and between 4f66f52 and 3a60dc6.

📒 Files selected for processing (12)

• CHANGELOG.rst
• CMakeLists.txt
• CONTRIBUTING.md
• README.md
• docs/architecture.md
• src/compat/xml_config.cpp
• src/netft_hardware_interface.cpp
• test/core/CMakeLists.txt
• test/core/test_discovery.cpp
• test/cpp/support/ros2_control_test_access.cpp
• test/cpp/test_check.cpp
• test/integration/audit_ros2_control_symbols.sh

💤 Files with no reviewable changes (1)

• test/integration/audit_ros2_control_symbols.sh

🚧 Files skipped from review as they are similar to previous changes (10)

• CHANGELOG.rst
• test/core/CMakeLists.txt
• test/cpp/support/ros2_control_test_access.cpp
• CONTRIBUTING.md
• README.md
• docs/architecture.md
• test/cpp/test_check.cpp
• test/core/test_discovery.cpp
• CMakeLists.txt
• src/netft_hardware_interface.cpp