[agus-darmawan]

Molly 2.0.0 on the current Dharma stack (ROS 2 Humble).

Stack

• molly.repos: every dharma repository pinned to its main of 2026-10-28 (Dharma 0.2: typed status, control mux, path shift, 360° avoidance, docking).
• molly_bringup (replaces molly), modelled on the Dharma template's bringup: one robot profile (robot.yaml: footprint, base height, kinematics, limits, frames), per-node overrides (stack.yaml, sim.yaml), validated arguments, merged parameter files, health expected nodes; robot.launch.py and sim.launch.py. Field-tested values kept and mapped to the new parameter names.

Product features

• POIs and tours are owned by Molly now (molly_interfaces, molly_guide): POIs / tours stored with the site (pois.json, tours.json), same service names; the tour engine walks with planner/go_to and follows the typed planner / navigation / control / localization status. REMOTE or an e-stop pauses the tour; back in AUTO it continues at the same stop. New guide/go_to_poi.
• Interaction (molly_interaction): speech, greeter, conversation and the visitor tracker (moved here from dharma_perception 0.1), all on pure cores.
• Bridge (molly_bridge): the handheld drives through the mux (control/remote/handheld/cmd_vel, control/set_mode, control/estop/*), joystick limits from the robot profile, new dock / undock and navigation pause / resume commands; protocol molly-1 (changes listed in PROTOCOL.md); dashboard whitelist updated.
• Every package on DharmaNode with typed config, core/ + utils/ + thin nodes, unit and ROS tests, style test.

Repository

• Dev container (Humble, VNC), compose, devcontainer, scripts/ (dev, setup, run_robot, tmux layouts), hub tooling and pre-commit; CI: lint, scripts, the whole stack from molly.repos on Humble, Molly tests and the sim tour; README, CHANGELOG 2.0.0, docs.
• lite3_ros2 submodule moved to its current main (15 commits ahead, unchanged driver).

Verification

• Whole workspace (dharma + molly + lite3) on Humble: 1068 tests, all pass except lite3_description's URDF test where xacro is not installed locally.
• End-to-end sim tour: localizes, walks a 3-POI tour, handheld takes over in REMOTE (navigation paused), back to AUTO the tour continues and ends at the last POI; clean shutdown.

On the robot

• scripts/setup.sh install config (ROBOT_BRINGUP → ROBOT_DRIVER), compare /etc/molly/site.yaml with site.example.yaml.
• Measure braking limits and the footprint; check tag ids / camera frame and the health expected node names.
• Docking needs the Lite3 driver to report charging (power_supply_status) and charge services.

---

Generated by Claude Code