Remove message transforms and update build for Lyrical (#90)

* Remove mobile_to_maritime dependency and update rosdeps

* Fix demos and run pre-commit

* Try to fix pipelines

* Fix trajectory CI errors

* Fix thruster controller CI errors

* Fix impedance controller ci errors

Author: evan-palmer

.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

.vscode/c_cpp_properties.json

@@ -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)