[PARSER] Replace goal-state configuration with meta-profile format by lakhmanisahil · Pull Request #1 · lakhmanisahil/foreman

lakhmanisahil · 2026-06-29T03:47:28Z

Description

This PR replaces the existing goal_states configuration with the new profiles and meta_profiles format.

To preserve the existing Foreman engine, the parser expands each meta-profile into a SystemGoal during parsing. As a result, the planner and engine continue to operate on SystemGoals without requiring any changes.

This PR is stacked on top of feat/meta-profiles-and-inference.{PR #16: dependency inference}

Changes

Configuration format

Replace goal_states with profiles and meta_profiles
Migrate the example scenario to the new configuration format
Support reusable profiles containing:
- controllers
- hardware
- lifecycle nodes
Support meta-profiles that assign target lifecycle states to profiles

Parser

Parse the new profiles section
Parse the new meta_profiles section
Expand each meta-profile into a SystemGoal
Derive hardware and lifecycle node lists from the referenced profiles
Preserve the existing ParsedScenario interface for the engine
Keep dependency rules inferred at runtime

Validation

Added parser validation for:

unknown profile references
missing profile state declarations

Tests

Update parser tests for the new configuration format
Add parser validation tests
Verify generated SystemGoals from meta-profiles

Testing

Environment

ROS 2 Lyrical/Jazzy
ros2_control_demos Example 1 (RRBot)

Build

cd ~/my_ws

colcon build --symlink-install

source install/setup.bash

Unit Tests

Successfully executed:

pytest src/foreman/foreman/test/test_parser.py

colcon build --packages-select foreman

colcon test --packages-select foreman

colcon test-result --verbose

All tests passed successfully.

Manual Validation

Validated using ros2_control_demo_example_1.

Terminal 1

ros2 run foreman dummy_lifecycle_node

Terminal 2

ros2 launch ros2_control_demo_example_1 rrbot.launch.py

Terminal 3

ros2 run foreman foreman_node --ros-args \
  -p config_path:=<path-to-yaml>

Terminal 4

Switch between meta-profiles:

ros2 service call /foreman/set_goal foreman_msgs/srv/SetGoal "{goal: 'full_active'}"

ros2 service call /foreman/set_goal foreman_msgs/srv/SetGoal "{goal: 'all_down'}"

ros2 service call /foreman/set_goal foreman_msgs/srv/SetGoal "{goal: 'sensing_only'}"

Here SetGoal refers to a meta-profile.

Foreman successfully expanded the selected meta-profile into the corresponding SystemGoal and executed the requested transitions.

YAML used for testing

profiles:
  motion:
    controllers:
      - forward_position_controller

  sensing:
    controllers:
      - joint_state_broadcaster
    hardware:
      - RRBot
    lifecycle_nodes:
      - dummy_lifecycle_node

meta_profiles:
  full_active:
    motion: {state: active}
    sensing: {state: active}

  sensing_only:
    motion: {state: inactive}
    sensing: {state: active}

  all_down:
    motion: {state: inactive}
    sensing: {state: inactive}

Is this a user-facing behavior change?

Yes.

The scenario configuration format changes from goal_states to profiles and meta_profiles.

Existing configuration files using goal_states must be migrated to the new format.

The public SetGoal API remains unchanged; users now specify the name of a meta-profile instead of a goal state.

Did you use Generative AI?

Yes (OpenAI GPT-5.5) was used for assistance.

Additional Information

Testing with example_1

Add initial support for parsing the meta-profile configuration format. Each meta-profile is parsed into a SystemGoal by name.

Expand controllers, hardware and lifecycle nodes referenced by a profile into the corresponding SystemGoal. Each component inherits the lifecycle state specified by the enclosing profile_name_ under meta-profile_name. Signed-off-by: root <lakhmanisahil8@gmail.com>

This removes the need for top-level hardware and lifecycle node lists when parsing the meta-profile configuration format. Signed-off-by: root <lakhmanisahil8@gmail.com>

Populate the tracked component list from the parsed goals. Reuse the existing tracked-component derivation logic so the meta-profile parser produces the same tracked component set as the old goal-state parser. Signed-off-by: root <lakhmanisahil8@gmail.com>

Signed-off-by: root <lakhmanisahil8@gmail.com>

Require every profile referenced by a meta-profile to declare a lifecycle state. Signed-off-by: root <lakhmanisahil8@gmail.com>

Replace the ols goal-state configuration with the new profile & meta-profile schema. This preserves the existing parsed scenario while migrating the configuration to the new format. Signed-off-by: ...Signed-off-by: root <lakhmanisahil8@gmail.com>

Update the parser test file to use the meta-profile format and include validation tests for the new configuration format. Signed-off-by: root <lakhmanisahil8@gmail.com>

Signed-off-by: root <lakhmanisahil8@gmail.com>

saikishor · 2026-06-29T13:25:58Z

+    def test_missing_profile_reference_raises(self, tmp_path):
+        config = tmp_path / "missing_profile.yaml"
+
+        config.write_text(
+            "profiles:\n"
+            "  motion:\n"
+            "    controllers: [controller]\n"
+            "\n"
+            "meta_profiles:\n"
+            "  running:\n"
+            "    missing_profile:\n"
+            "      state: active\n"
+        )
+
+        with pytest.raises(ValueError):
+            parse_yaml_file(config)
+
+    def test_missing_profile_state_raises(self, tmp_path):
+        config = tmp_path / "missing_state.yaml"
+
+        config.write_text(
+            "profiles:\n"
+            "  motion:\n"
+            "    controllers: [controller]\n"
+            "\n"
+            "meta_profiles:\n"
+            "  running:\n"
+            "    motion: {}\n"
+        )
+
+        with pytest.raises(ValueError):
+            parse_yaml_file(config)


What about testing valid cases?. Is it already handled in previous tests?

Yes, the valid cases are already covered 👍

lakhmanisahil added 10 commits June 28, 2026 23:13

feat(parser): add meta-profile parser entry point

08a68af

Add initial support for parsing the meta-profile configuration format. Each meta-profile is parsed into a SystemGoal by name.

feat(parser): derive hardware and lifecycle nodes

2e99274

This removes the need for top-level hardware and lifecycle node lists when parsing the meta-profile configuration format. Signed-off-by: root <lakhmanisahil8@gmail.com>

feat(parser): validate referenced profiles

6782424

Signed-off-by: root <lakhmanisahil8@gmail.com>

feat(parser): validate profile state declarations

3edc2fa

Require every profile referenced by a meta-profile to declare a lifecycle state. Signed-off-by: root <lakhmanisahil8@gmail.com>

refactor(test): consolidate parser tests

d4c6ed5

Update the parser test file to use the meta-profile format and include validation tests for the new configuration format. Signed-off-by: root <lakhmanisahil8@gmail.com>

refactor(parser): remove old goal-states parser format

a49ca60

Signed-off-by: root <lakhmanisahil8@gmail.com>

refactor(test): remove temporary meta-profile parser tests

ba059b5

Signed-off-by: root <lakhmanisahil8@gmail.com>

saikishor reviewed Jun 29, 2026

View reviewed changes

lakhmanisahil marked this pull request as ready for review July 1, 2026 23:34

lakhmanisahil mentioned this pull request Jul 2, 2026

[FOREMAN] add ListProfiles service for profiles and meta-profiles #2

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lakhmanisahil changed the title ~~Replace goal-state configuration with meta-profile format~~ [PARSER] Replace goal-state configuration with meta-profile format Jul 2, 2026

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[PARSER] Replace goal-state configuration with meta-profile format - #1

[PARSER] Replace goal-state configuration with meta-profile format#1
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lakhmanisahil commented Jun 29, 2026 •

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Description

Changes

Configuration format

Parser

Validation

Tests

Testing

Environment

Build

Unit Tests

Manual Validation

Terminal 1

Terminal 2

Terminal 3

Terminal 4

YAML used for testing

Is this a user-facing behavior change?

Did you use Generative AI?

Additional Information

Testing with example_1

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saikishor Jun 29, 2026

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lakhmanisahil Jun 29, 2026

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lakhmanisahil commented Jun 29, 2026 •

edited

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