feat(aloha_ws): Clone interbotix_ros_toolboxes

Branch: humble
Reference: https://github.com/Interbotix/interbotix_ros_toolboxes/tree/daae95ca3a5952e3e1d993e4900ab40c3ede8ec8

aloha_ws/src/interbotix_ros_toolboxes/.github/CODEOWNERS

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+#   Default Reviewer
+
+*   @LSinterbotix

aloha_ws/src/interbotix_ros_toolboxes/.github/ISSUE_TEMPLATE/bug_report.yml

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+name: Bug Report
+description: File a bug report
+title: "[Bug]: "
+labels: ["bug"]
+assignees:
+  - LSInterbotix
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to fill out this bug report!
+  - type: textarea
+    id: what-happened
+    attributes:
+      label: What happened?
+      description: Also tell us what you expected to happen.
+      placeholder: Tell us what you see!
+    validations:
+      required: true
+  - type: textarea
+    id: robot_model
+    attributes:
+      label: Robot Model
+      description: Which robot are you using?
+      placeholder: wx250s, locobot_px100, etc.
+    validations:
+      required: true
+  - type: dropdown
+    id: operating_system
+    attributes:
+      label: Operating System
+      description: Which operating system are you seeing this problem on?
+      multiple: true
+      options:
+        - Ubuntu 18.04
+        - Ubuntu 20.04
+        - Ubuntu 22.04
+        - Other (Describe in "Additional Info")
+    validations:
+      required: true
+  - type: dropdown
+    id: ros_distro
+    attributes:
+      label: ROS Distro
+      description: Which distribution of ROS are you seeing this problem on?
+      multiple: true
+      options:
+        - ROS 1 Melodic
+        - ROS 1 Noetic
+        - ROS 2 Galactic
+        - ROS 2 Humble
+        - ROS 2 Rolling
+        - Other (Describe in "Additional Info")
+    validations:
+      required: true
+  - type: textarea
+    id: steps
+    attributes:
+      label: Steps To Reproduce
+      description: What were the steps you took immediately preceding your issue?
+  - type: textarea
+    id: logs
+    attributes:
+      label: Relevant log output
+      description: Please copy and paste any relevant log output. This will be automatically formatted into code, so no need for backticks.
+      render: shell
+  - type: textarea
+    id: other
+    attributes:
+      label: Additional Info
+      description: Please enter anything else you'd like to share here.

aloha_ws/src/interbotix_ros_toolboxes/.github/ISSUE_TEMPLATE/config.yml

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+blank_issues_enabled: true
+contact_links:
+  - name: Contact Trossen Robotics Support
+    url: https://www.trossenrobotics.com/contact.aspx
+    about: If you have any questions about missing or damaged parts.
+  - name: Discussions
+    url: https://github.com/orgs/Interbotix/discussions
+    about: Ask and answer questions about Interbotix products.

aloha_ws/src/interbotix_ros_toolboxes/.github/ISSUE_TEMPLATE/feature_request.yml

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+name: Feature Request
+description: Suggest an idea for this project
+title: "[Enhancement]: "
+labels: ["enhancement"]
+assignees:
+  - LSInterbotix
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to suggest a new feature!
+  - type: textarea
+    id: describe-feature
+    attributes:
+      label: Describe the solution you'd like
+      description: A clear and concise description of what you want to happen.
+    validations:
+      required: true
+  - type: textarea
+    id: platform
+    attributes:
+      label: Platform
+      description: Which platform would you like to see this feature on?
+      placeholder: X-Series Arms, LoCoBots, etc.
+  - type: textarea
+    id: problem
+    attributes:
+      label: Is your feature request related to a problem? Please describe.
+      description: A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+  - type: textarea
+    id: logs
+    attributes:
+      label: Suggested code
+      description: Please suggest any code or commands that you think would help with implementing the feature. This will be automatically formatted into code, so no need for backticks.
+  - type: textarea
+    id: other
+    attributes:
+      label: Additional Info
+      description: Please enter anything else you'd like to share here.

aloha_ws/src/interbotix_ros_toolboxes/.github/ISSUE_TEMPLATE/question.yml

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+name: Question
+description: Ask a question
+title: "[Question]: "
+labels: ["question"]
+assignees:
+  - LSInterbotix
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to ask a question!
+  - type: textarea
+    id: question
+    attributes:
+      label: Question
+      description: Ask your question here.
+    validations:
+      required: true
+  - type: textarea
+    id: robot_model
+    attributes:
+      label: Robot Model
+      description: Which robot are you asking about (if any)?
+      placeholder: wx250s, locobot_px100, etc.
+  - type: dropdown
+    id: operating_system
+    attributes:
+      label: Operating System
+      description: Which operating system are you targeting when asking this question?
+      multiple: true
+      options:
+        - Ubuntu 18.04
+        - Ubuntu 20.04
+        - Ubuntu 22.04
+        - Other (Describe in "Additional Info")
+    validations:
+      required: true
+  - type: dropdown
+    id: ros_version
+    attributes:
+      label: ROS Version
+      description: Which version of ROS are you targeting when asking this question?
+      multiple: true
+      options:
+        - ROS 1 Melodic
+        - ROS 1 Noetic
+        - ROS 2 Galactic
+        - ROS 2 Humble
+        - ROS 2 Rolling
+        - Other (Describe in "Additional Info")
+    validations:
+      required: true
+  - type: textarea
+    id: other
+    attributes:
+      label: Additional Info
+      description: Please enter anything else you'd like to share here.

aloha_ws/src/interbotix_ros_toolboxes/.github/workflows/xs-galactic.yaml

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+name: build-xs-galactic
+
+on:
+  push:
+    branches:
+      - galactic
+  pull_request:
+    branches:
+      - galactic
+  workflow_dispatch:
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  xs-galactic:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: galactic}
+    runs-on: ubuntu-20.04
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    steps:
+      - name: Checkout ROS Toolboxes
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          path: src/interbotix_ros_toolboxes
+      - name: Checkout ROS Core
+        uses: actions/checkout@v3
+        with:
+          repository: interbotix/interbotix_ros_core
+          ref: galactic
+          submodules: recursive
+          path: src/interbotix_ros_core
+      - name: Checkout Apriltag ROS package
+        uses: actions/checkout@v3
+        with:
+          repository: interbotix/apriltag_ros
+          ref: ros2-port
+          path: src/apriltag_ros
+      - name: Checkout MoveIt Visual Tools package
+        uses: actions/checkout@v3
+        with:
+          repository: ros-planning/moveit_visual_tools
+          ref: ros2
+          path: src/moveit_visual_tools
+      - name: Install non-rosdep Python dependencies
+        run: python3 -m pip install modern-robotics transforms3d
+      - name: Prepare Workspace
+        run: |
+          rm src/interbotix_ros_toolboxes/interbotix_perception_toolbox/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface_msgs/COLCON_IGNORE
+      - name: ROS-I CI
+        uses: ros-industrial/industrial_ci@master
+        with:
+          config: ${{toJSON(matrix.env)}}

aloha_ws/src/interbotix_ros_toolboxes/.github/workflows/xs-humble.yaml

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+name: build-xs-humble
+
+on:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  xs-humble:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: humble, ROS_REPO: main}
+    runs-on: ubuntu-22.04
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    steps:
+      - name: Checkout ROS Toolboxes
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          path: src/interbotix_ros_toolboxes
+      - name: Checkout ROS Core
+        uses: actions/checkout@v3
+        with:
+          repository: interbotix/interbotix_ros_core
+          ref: humble
+          submodules: recursive
+          path: src/interbotix_ros_core
+      - name: Install non-rosdep Python dependencies
+        run: python3 -m pip install modern-robotics transforms3d
+      - name: Prepare Workspace
+        run: |
+          rm src/interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE || echo "File not found"
+          rm src/interbotix_ros_toolboxes/interbotix_perception_toolbox/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_io_toolbox/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface_msgs/COLCON_IGNORE
+      - name: ROS-I CI
+        uses: ros-industrial/industrial_ci@master
+        with:
+          config: ${{toJSON(matrix.env)}}

aloha_ws/src/interbotix_ros_toolboxes/.github/workflows/xs-noetic.yaml

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+name: build-xs-noetic
+
+on:
+  push:
+    branches:
+      - main
+      - devel
+      - noetic
+  pull_request:
+    branches:
+      - main
+      - devel
+      - noetic
+  workflow_dispatch:
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  xs-noetic:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: noetic,  ROS_REPO: main, BUILDER: catkin_tools, NOT_TEST_BUILD: true}
+          - {ROS_DISTRO: noetic,  ROS_REPO: main, BUILDER: catkin_make, NOT_TEST_BUILD: true}
+    runs-on: ubuntu-20.04
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    steps:
+      - name: Checkout ROS Toolboxes
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          path: src/interbotix_ros_toolboxes
+      - name: Checkout ROS Core
+        uses: actions/checkout@v3
+        with:
+          repository: interbotix/interbotix_ros_core
+          ref: noetic
+          path: src/interbotix_ros_core
+      - name: Prepare Workspace
+        run: |
+          rm src/interbotix_ros_core/interbotix_ros_xseries/CATKIN_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_xs_toolbox/CATKIN_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_perception_toolbox/CATKIN_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/CATKIN_IGNORE
+      - name: ROS-I CI
+        uses: ros-industrial/industrial_ci@master
+        with:
+          config: ${{toJSON(matrix.env)}}

aloha_ws/src/interbotix_ros_toolboxes/.github/workflows/xs-rolling.yaml

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+name: build-xs-rolling
+
+on:
+  push:
+    branches:
+      - rolling
+  pull_request:
+    branches:
+      - rolling
+  workflow_dispatch:
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  xs-rolling:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
+    runs-on: ubuntu-22.04
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    steps:
+      - name: Checkout ROS Toolboxes
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          path: src/interbotix_ros_toolboxes
+      - name: Checkout ROS Core
+        uses: actions/checkout@v3
+        with:
+          repository: interbotix/interbotix_ros_core
+          ref: rolling
+          submodules: recursive
+          path: src/interbotix_ros_core
+      - name: Get cache
+        uses: actions/cache@v3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - name: Install non-rosdep Python dependencies transforms3d
+        run: python3 -m pip install modern-robotics
+      - name: ROS-I CI
+        uses: ros-industrial/industrial_ci@master
+        with:
+          config: ${{toJSON(matrix.env)}}