Feat/medkit integration#1

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mfaferek93 wants to merge 16 commits into

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feat/medkit-integration

Commits on May 14, 2026

chore(cpp_trees): drop unused topic_based_ros2_control dependency
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refactor(cpp_trees): give every BT executable a unique ROS node name
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build(cpp_trees): wire ros2_medkit_fault_reporter as a hard dependency
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feat(cpp_trees): add fault catalogue, FaultReporting and reporter install helper
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feat(cpp_trees): inherit FaultReporting in 21 BT action node classes
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feat(planner): emit medkit faults for collision, e-stop and retry exhaustion
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feat(signals): emit medkit faults for IO failures, robot not ready, wait timeout
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feat(objects): emit medkit faults on add/remove/attach/get-pose/wait-timeout
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feat(gripper): emit medkit faults on command/traj operational failures
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feat(logic): emit medkit faults for TF lookup and WaitForKeyBool timeout
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feat(isaac): emit medkit faults on FoundationPose detection timeouts
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test(cpp_trees): add fault reporting roundtrip test with FakeFaultManager
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docs(cpp_trees): add FAULT_CODES catalogue + README/CHANGELOG entries
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ci: install ros2_medkit deb packages so the medkit overlay build links
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fix: address self-review findings
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fix(cpp_trees): address PR #1 review
mfaferek93
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