Drive CD objectives over the Foxglove web bridge (Node)

[nbbrooks]

[written by AI]

What

Replace the roslibpy/rosbridge CD objective runner with a Node runner that speaks the Foxglove WebSocket protocol to the always-on MoveIt Pro web bridge (foxglove_bridge, port 3201) via foxglove-ros-adapter. No --enable-rosbridge sidecar is needed.

• example_scripts/cd_objective_lib.mjs — Node runner (runObjective, runObjectivesForever); connects to 3201, waits for /do_objective via ros.waitForAction(), sends the goal with ActionClient, and on timeout/bridge failure notifies + stops the unit.
• example_scripts/{3-waypoint-pick-and-place,ml-segment-image,move-all-boxes}.mjs — wrappers (was .py).
• example_scripts/package.json + ws-polyfill.mjs — deps (foxglove-ros-adapter, @foxglove/rosmsg*, zod, ws) and the WebSocket global shim for Node 18–21.
• install.sh — installs Node 18+ (NodeSource if absent) and npm installs the runner deps, instead of pip install roslibpy.
• bin/notify_lib.py — added a --title/--reason CLI shim so the Node runner reuses the existing Slack/GitHub notifier unchanged.
• Removed the old .py runner + wrappers; refreshed README.md, QUICK_START.md; added .gitignore.

Why

Since MoveIt Pro 9.4, 3201 is foxglove_bridge (Foxglove binary protocol) and rosbridge_server is an opt-in sidecar. Driving the smoke test over 3201 uses the default transport with no extra flag. roslibpy (Python) has no Foxglove-native client, so the runner moves to Node where foxglove-ros-adapter provides a roslib-compatible ActionClient. notify_lib.py carries no ROS dependency, so it stays Python and is invoked via a small CLI shim rather than rewritten.

Validation status

Local checks (host): all .mjs pass node --check; install.sh passes bash -n; notify_lib.py compiles, its 12 existing tests pass, and the new CLI shim works in --dry-run.

Not yet validated against a live bridge — this environment has no running MoveIt Pro backend and the npm deps are not installed here. Before merge, on a target with the web bridge up:

• npm install under example_scripts/ resolves foxglove-ros-adapter + peers.
• MOVEIT_WEB_BRIDGE_URL=ws://<host>:3201 node cd_objective_lib.mjs path: connects, waitForAction("/do_objective") resolves, sendGoal/waitGoal drive an Objective end-to-end.
• Confirm the adapter's action goal field name matches { objective_name } for moveit_studio_sdk_msgs/action/DoObjectiveSequence (assumed from the roslibpy payload).
• Confirm waitForAction/waitGoal reject on timeout (the retry/fail logic depends on it).
• install.sh end-to-end on a clean Ubuntu target (Node bootstrap + npm install --prefix).

Pairs with the docs update in moveit_pro PR (CI/CD guide → Node/3201, no sidecar).

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