ROS: Refactor node

[sgrizan-nv]

Summary by CodeRabbit

• Refactor
  • Consolidated shared utilities into a new teleop_ros2_node_lib module with dedicated sub-modules for asset resolution, geometry operations, message building, plugin discovery, and session configuration.
  • Restructured the main teleop node's message publishing into dedicated handler methods for improved modularity.
  • Removed duplicate local implementations and replaced them with library imports.

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📝 Walkthrough

Walkthrough

This pull request extracts extensive helper logic from teleop_ros2_node.py into a new teleop_ros2_node_lib package containing constants, asset resolution, geometry/message builders, plugin discovery, and session configuration assembly. The main node is refactored to import these utilities, parse teleop mode and hand-retargeter parameters into enums, resolve effective retargeter type via library helpers, and build the TeleopSessionConfig using a central dispatcher. Runtime message publishing is reorganized into dedicated _publish_* helper methods routed by teleop mode.

Estimated code review effort

🎯 4 (Complex) | ⏱️ ~75 minutes

🚥 Pre-merge checks | ✅ 3 | ❌ 2

❌ Failed checks (1 warning, 1 inconclusive)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 11.63% which is insufficient. The required threshold is 80.00%.	Write docstrings for the functions missing them to satisfy the coverage threshold.
Title check	❓ Inconclusive	The title 'ROS: Refactor node' is vague and generic, using a non-descriptive term ('Refactor') without clarifying the specific purpose or scope of the changes.	Consider a more specific title that captures the main refactoring goal, such as 'ROS: Extract teleop_ros2_node utilities into shared library' or 'ROS: Refactor teleop_ros2_node to use session config builder'.

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

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✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch sgrizan/branch2

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Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@examples/teleop_ros2/python/teleop_ros2_node_lib/messages.py`:
- Around line 35-38: The _as_quat function uses the wrong identity quaternion
ordering; update the fallback in _as_quat to match the codebase x,y,z,w ordering
by returning [0.0, 0.0, 0.0, 1.0] when ctrl.is_none, leaving the existing float
conversion for active controllers (function name: _as_quat, symbol: ctrl,
index).

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

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ℹ️ Review info

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📥 Commits

Reviewing files that changed from the base of the PR and between e4c1aa0 and 5f27195.

📒 Files selected for processing (8)

• examples/teleop_ros2/python/teleop_ros2_node.py
• examples/teleop_ros2/python/teleop_ros2_node_lib/__init__.py
• examples/teleop_ros2/python/teleop_ros2_node_lib/assets.py
• examples/teleop_ros2/python/teleop_ros2_node_lib/constants.py
• examples/teleop_ros2/python/teleop_ros2_node_lib/geometry.py
• examples/teleop_ros2/python/teleop_ros2_node_lib/messages.py
• examples/teleop_ros2/python/teleop_ros2_node_lib/plugins.py
• examples/teleop_ros2/python/teleop_ros2_node_lib/session_config.py