Remove message transforms and update build for Lyrical

.clang-tidy

@@ -9,6 +9,7 @@ Checks: >
   performance-*,
   portability-*,
   readability-*,
+  -portability-avoid-pragma-once,
   -google-readability-braces-around-statements,
   -google-readability-namespace-comments,
   -google-runtime-references,

.devcontainer/Dockerfile

@@ -63,7 +63,7 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
-    && colcon build \
+    && colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
     && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
     && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
 
@@ -74,12 +74,16 @@ RUN pip install \
     pre-commit
 
 # Install debugging/linting C++ packages
+# libstdc++-16-dev completes the gcc-16 toolchain that gets pulled in transitively
+# without it, which otherwise leaves clang-tidy's GCC auto-detection unable to find
+# standard library headers.
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && sudo apt-get install -y \
-    clang-format-18 \
+    clang-format-22 \
     clang-tidy \
     clang-tools \
+    libstdc++-16-dev \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*

.devcontainer/devcontainer.json

@@ -1,26 +1,9 @@
 {
-  "name": "ROS 2 Dev Container",
-  "dockerFile": "Dockerfile",
-  "context": "../",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/auv_controllers,type=bind",
-  "workspaceFolder": "/home/ubuntu/ws_ros/src/auv_controllers",
-  "remoteUser": "ubuntu",
-  "customizations": {
-    "vscode": {
-      "extensions": [
-        "ms-azuretools.vscode-docker",
-        "ms-python.python",
-        "njpwerner.autodocstring",
-        "ms-vscode.cpptools",
-        "redhat.vscode-xml",
-        "redhat.vscode-yaml",
-        "smilerobotics.urdf",
-        "DavidAnson.vscode-markdownlint",
-        "esbenp.prettier-vscode",
-        "xaver.clang-format",
-        "charliermarsh.ruff",
-        "ms-vscode.cmake-tools"
-      ]
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/auv_controllers,type=bind",
+    "workspaceFolder": "/home/ubuntu/ws_ros/src/auv_controllers",
+    "remoteUser": "ubuntu",
+    "build": {
+        "dockerfile": "Dockerfile",
+        "context": "../"
     }
-  }
 }

.dockerignore

@@ -13,4 +13,7 @@
 !topic_sensors
 !twist_controllers
 !whole_body_controllers
+!trajectory_controllers
+!controller_coordinator
+!impedance_controller
 !ros2.repos

.github/workflows/ci.yml

@@ -30,6 +30,10 @@ jobs:
           ROS_DISTRO: ${{ matrix.env.ROS_DISTRO }}
           CXXFLAGS: -Wall -Wextra -Wpedantic -std=c++20
           CLANG_TIDY: true
+          # Ubuntu's gcc-16 metapackage is pulled in transitively without a matching
+          # libstdc++-16-dev, which leaves clang-tidy's GCC auto-detection pointing at
+          # an incomplete toolchain and unable to find standard library headers.
+          ADDITIONAL_DEBS: libstdc++-16-dev
           UPSTREAM_WORKSPACE: ros2.repos
           AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
           AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src

.gitignore

@@ -3,5 +3,12 @@ build/
 install/
 log/
 
+# Python Cache
 .mypy_cache/
 .ruff_cache/
+
+# CMake Cache
+.cache
+
+# Zed settings
+.zed

auv_control_demos/CHANGELOG.md

@@ -1,5 +1,9 @@
 # Changelog for package auv_control_demos
 
+## 0.5.1 (2026-08-14)
+
+- Declares the missing `rclpy` dependency
+
 ## 0.5.0 (2026-05-29)
 
 ## 0.4.3 (2026-04-25)

auv_control_demos/chained_controllers/launch/chaining.launch.py

@@ -47,13 +47,23 @@ def generate_launch_description():
     )
     robot_description = {"robot_description": robot_description_content}
 
+    controller_params = PathJoinSubstitution(
+        [
+            FindPackageShare("auv_control_demos"),
+            "config",
+            "chained_controllers.yaml",
+        ]
+    )
+
     velocity_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
         arguments=[
             "adaptive_integral_terminal_sliding_mode_controller",
             "--controller-manager",
             ["", "controller_manager"],
+            "--param-file",
+            controller_params,
         ],
     )
 
@@ -65,6 +75,8 @@ def generate_launch_description():
                 f"thruster_{i + 1}_controller",
                 "--controller-manager",
                 ["", "controller_manager"],
+                "--param-file",
+                controller_params,
             ],
         )
         for i in range(8)
@@ -93,6 +105,8 @@ def generate_launch_description():
             "thruster_allocation_matrix_controller",
             "--controller-manager",
             ["", "controller_manager"],
+            "--param-file",
+            controller_params,
         ],
     )
     delay_tam_controller_spawner_after_thruster_controller_spawners = (

auv_control_demos/individual_controller/launch/individual.launch.py

@@ -45,6 +45,14 @@ def generate_launch_description():
     )
     robot_description = {"robot_description": robot_description_content}
 
+    controller_params = PathJoinSubstitution(
+        [
+            FindPackageShare("auv_control_demos"),
+            "config",
+            "individual_controller.yaml",
+        ]
+    )
+
     return LaunchDescription(
         [
             Node(
@@ -57,15 +65,7 @@ def generate_launch_description():
                 package="controller_manager",
                 executable="ros2_control_node",
                 output="both",
-                parameters=[
-                    PathJoinSubstitution(
-                        [
-                            FindPackageShare("auv_control_demos"),
-                            "config",
-                            "individual_controller.yaml",
-                        ]
-                    ),
-                ],
+                parameters=[controller_params],
                 remappings=[
                     ("/controller_manager/robot_description", "/robot_description"),
                 ],
@@ -77,6 +77,8 @@ def generate_launch_description():
                     "adaptive_integral_terminal_sliding_mode_controller",
                     "--controller-manager",
                     ["", "controller_manager"],
+                    "--param-file",
+                    controller_params,
                 ],
             ),
         ]

auv_control_demos/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
 
   <name>auv_control_demos</name>
-  <version>0.5.0</version>
+  <version>0.5.1</version>
   <description>Example package that includes demos for using auv_controllers in individual and chained modes</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>
@@ -19,6 +19,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>rclpy</depend>
+
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
 

auv_control_msgs/CHANGELOG.md

@@ -1,5 +1,9 @@
 # Changelog for package auv_control_msgs
 
+## 0.5.1 (2026-08-14)
+
+- Declares the missing `builtin_interfaces` dependency
+
 ## 0.5.0 (2026-05-29)
 
 ## 0.4.3 (2026-04-25)