molly_bringup

Molly on the Dharma stack: the Lite3's robot profile, the per-node overrides of the package defaults, and one launch for the whole robot (the Dharma stack, Molly's packages, the robot driver), plus the same on the simulator. Made from the Dharma hub's robot_bringup template.

Files

File
config/robot.yaml	the Lite3 robot profile, /**: ros__parameters: robot: {...} (kinematics, footprint, limits, frames)
config/stack.yaml	per-node overrides for Molly on the Lite3 (only what differs from the package defaults)
config/sim.yaml	on top of stack.yaml in sim.launch.py (PointCloud2 input, silent speech, the sim's dock)
config/site.example.yaml	the site file for a Lite3, copied to /etc/molly/site.yaml by scripts/setup.sh install config
config/demo_site/	demo POIs and tour copied into a simulated site that has none
launch/robot.launch.py	the robot driver (robot_driver:=lite3_bringup) and the whole stack
launch/sim.launch.py	dharma_sim and the whole stack (odometry external, no camera)
molly_bringup/stack.py	the composition: package launch files, their arguments, the nodes they start
molly_bringup/bringup.py	argument validation, the robot profile check, parameter file merging, the demo site
molly_bringup/launch_utils.py	the launch actions shared by both launch files

Launch

ros2 launch molly_bringup robot.launch.py robot_driver:=lite3_bringup site:=museum
ros2 launch molly_bringup robot.launch.py site:=lobby start_mapping:=true   # map a new site
ros2 launch molly_bringup robot.launch.py conversation:=true web:=false
ros2 launch molly_bringup sim.launch.py rviz:=true

In production molly.service runs robot.launch.py with the environment of /etc/molly/molly.env (scripts/setup.sh install service); the arguments marked with a variable default to it.

Argument	Default (env)
robot_params	config/robot.yaml	robot profile file
params_file	(SITE_CONFIG)	the site file on top of config/stack.yaml, e.g. /etc/molly/site.yaml; must exist when set
use_sim_time / log_level	/ info
robot_ns	robot (ROBOT_NS)	driver namespace: /<ns>/cmd_vel, /<ns>/odom, /<ns>/battery, driver services
robot_driver	(ROBOT_DRIVER)	<package>[/<file>.launch.py], started with namespace:=<robot_ns>; empty: started elsewhere
odometry	fast_lio (ODOMETRY)	fast_lio, leg_kilo or external (robot launch only)
site / sites_dir	(SITE, SITES_DIR)	empty: from the parameter files (or the last site)
route	(ROUTE)	route CSV inside sites_dir loaded at start; empty: the last one loaded
start_mapping	false (START_MAPPING)	map site from the start when it is new
fiducials / fiducials_detector	true / apriltag	camera throttle + tag detector (aruco: dharma_perception's ArUco detector)
camera_image / camera_info		empty: the perception defaults (/camera/camera/color/..., the Lite3 camera)
health	true	the health monitor
speech, greeter, visitors	true (SPEECH, GREETER, VISITORS)	text to speech, the greeter, the visitor tracker
conversation	false (CONVERSATION)	questions answered by a local model (Ollama)
web, web_port, web_video_port	true, 9090, 8080 (WEB, ...)	rosbridge (whitelisted names) and web_video_server, when installed
webrtc, mediamtx	true (WEBRTC, MEDIAMTX)	the handheld's video over WebRTC when MediaMTX is installed
world / scenario / rviz	/ / false	simulator only

What the launch does:

1. Validates every argument and the robot profile (unknown names and out-of-range values stop the launch with the reason).
2. Merges config/stack.yaml (+ config/sim.yaml) and params_file into one parameter file (later wins), gives sites_dir to the route loader, the POI store and the teleop gateway and route to the route loader, adds every started node to the health monitor's nodes.expected (the Lite3 package's nodes are listed in stack.yaml), and reports sections that match no node (typos).
3. Includes each package launch (dharma_odometry, dharma_localization, dharma_perception, dharma_mapping, dharma_navigation, dharma_control, dharma_health, molly_guide, molly_interaction, molly_bridge bridge.launch.py and web.launch.py) with robot_params, the merged params_file and only the arguments that are set, each in its own launch scope.
4. The control mux is the only publisher of /<robot_ns>/cmd_vel; the handheld and the dashboard are its remote_sources (handheld, dashboard).

The first log line names the Molly version, the git commit (MOLLY_GIT, set by scripts/run_robot.sh), the robot, the namespace, the odometry, the site and the files.

The simulator

sim.launch.py draws the site mall_loop (under /tmp/molly_sim/sites) from dharma_sim's world when it has no map, and copies the demo POIs and tour (east_gate, fountain, west_hall) next to it. The simulator stands in for the Lite3 driver, the Mid-360 and FAST-LIO, sends a pose estimate while not localized, answers the route's inspection hook and has a charging dock with a tag camera on the west wall. The handheld connects with the token sim.

ros2 launch molly_bringup sim.launch.py
ros2 service call /tour/control molly_interfaces/srv/TourControl "{command: {kind: 0, tour_id: demo}}"
ros2 topic echo /tour/state

Tests

test/unit (argument validation, parameter merging, the composition), test/ros (both launch files against stub packages, and ros2 launch --show-args when installed), test/e2e (the whole simulator: a tour, teleop through the mux; MOLLY_SKIP_SIM=1 skips it), test/test_style.py.

colcon test --packages-select molly_bringup && colcon test-result --verbose