# =============================================================================
# barracuda.profile.yaml  —  FrameForge robot profile for Barracuda
# =============================================================================
# A declarative contract FrameForge validates real data (bags / TF dumps / CSV)
# against. The checks are generic; this file is the only robot-specific artifact.
#
# Values were verified on 2026-06-24 against the barracuda_ws workspace:
#   URDF  src/barracuda_description/urdf/{barracuda,sensors,common.urdf}.xacro
#   TF    frames_2026-04-23_18.53.40.gv  (view_frames dump; see examples/)
#   EST   src/barracuda_estimation/config/estimator_node.yaml
#   CTRL  src/barracuda_trajectory_control/config/controller_params.yaml
#   NAV   src/barracuda_navigation/config/nav2_params.yaml
#   GIT   c7a1ae2 (VN-100 x/y flip), 6bff66a (align control), 8d127f4 (ping1d depth)
#
# Tags in comments: VERIFIED (from files above) / CONFIRM-LIVE (needs a real bag
# or `ros2 node info`) / CORRECTS (differs from earlier reconstruction).
# =============================================================================

robot: barracuda
world_frame: odom               # VERIFIED frames.odom
base_frame: barracuda/base_link # VERIFIED frames.body

conventions:
  world: ENU                    # VERIFIED gravity-up init, yaw kept local
  body: FLU                     # EXPECTED body convention (fwd X, left Y, up Z)
  gravity_magnitude: 9.56       # CORRECTS earlier 9.79/9.81. VERIFIED imu.gravity_mps2
  gravity_tol: 0.15

estimator:
  pose_topic: /barracuda/estimated_pose        # VERIFIED topics.pose_output
  odom_topic: /barracuda/estimated_odometry    # VERIFIED topics.odom_output
  output_frame: odom
  publishes_tf: odom -> barracuda/base_link     # declared contract (TF dump shows odom -> camera; flag)

# Static transforms expanded from URDF (namespace=barracuda). The base->imu chain
# is NOT identity: base_link -> barracuda_link -> imu_link, and imu_joint carries a
# 180 deg yaw (rpy 0 0 pi) added as a water-test x/y-flip fix in commit c7a1ae2.
static_transforms:
  - parent: barracuda/base_link
    child: barracuda/barracuda_link
    rpy: [0, 0, 0]              # VERIFIED barracuda_base_joint (identity)
  - parent: barracuda/barracuda_link
    child: barracuda/imu_link
    rpy: [0, 0, 3.14159]       # VERIFIED imu_joint 180deg yaw (c7a1ae2)
  - parent: barracuda/base_link
    child: barracuda/dvl_link
    rpy: [0, 1.5708, 0]        # VERIFIED dvl_joint
  - parent: barracuda/barracuda_link
    child: barracuda/ping1d_link
    rpy: [0, 1.5708, 0]        # VERIFIED altimeter/ping1d joint

sensors:
  - topic: /barracuda/vectornav/imu     # VERIFIED topics.imu
    type: sensor_msgs/Imu
    frame: barracuda/imu_link
    convention: FLU                     # EXPECTED; verify measured vs FLU
    rate_hz: 40                         # CONFIRM-LIVE
  - topic: /barracuda/dvl/odometry      # VERIFIED topics.dvl_odometry
    type: nav_msgs/Odometry
    frame: barracuda/dvl_link
    rate_hz: 8                          # CONFIRM-LIVE
  - topic: /barracuda/ping1drange       # CORRECTS /barracuda/ping1d/range. VERIFIED topics.depth_range
    type: sensor_msgs/Range
    frame: barracuda/ping1d_link
    rate_hz: 5                          # CONFIRM-LIVE
  - topic: /barracuda/zed_node/point_cloud/cloud_registered  # VERIFIED topics.point_cloud
    type: sensor_msgs/PointCloud2
    frame: barracuda/zedm_left_camera_frame
    rate_hz: 15                         # CONFIRM-LIVE (TF dump showed ~19.9 Hz)

consumers:
  - node: trajectory_pid_controller
    must_subscribe: /barracuda/estimated_pose   # VERIFIED now fixed (6bff66a); code default still /barracuda/pose
  - node: nav2
    must_subscribe: /barracuda/estimated_odometry  # VERIFIED repointed from /odometry/filtered (6bff66a)
  - node: joystick_to_pose
    must_subscribe: /barracuda/estimated_pose   # STILL WRONG: subscribes dvl/pose (joystick_to_pose.py:61)