Robot Description primitive

This primitive publishes the robot body model managed by Soma through ROS 2 robot_state_publisher. Soma’s robonix/system/soma/get_urdf gRPC API is the only URDF input. The package has no URDF path, model file, or per-deployment body configuration of its own.

It publishes fixed URDF joints on /tf_static and uses standard /joint_states input for movable joints. Mapping, navigation, scene, and other ROS 2 consumers use the resulting TF tree directly.

Runtime modes

• package_manifest.yaml: Docker ROS 2 runtime.
• package_manifest.native.yaml: host ROS 2 runtime.

Both modes default to RMW_IMPLEMENTATION=rmw_zenoh_cpp and use the deployment’s existing ROBONIX_ZENOH_ROUTER, ROBONIX_ZENOH_MODE, and ROBONIX_ZENOH_LISTEN settings. Soma supplies ROBONIX_SOMA_ENDPOINT to every primitive it launches; operators do not configure this package separately.