rig: install the shared ROS 2 package set from reiserlab/rig-nodes (extraction, LAB-338)

.agents/skills/g6-orientation/SKILL.md

@@ -42,7 +42,7 @@ interface.
 |---|---|
 | **reiserlab/maDisplayTools** | **MATLAB** tools (G4+). Pattern math reference — **web output must match MATLAB exactly** (CI validates, tol 1e-4). Its protocol **runner is G4.1-only and frozen** (decision 2026-10-26); protocol authority = `webDisplayTools/docs/development/v3-spec.md` + conformance fixtures. (Its `docs/development/G4G6_ROADMAP.md` is largely historical now — use the umbrella docs for current G6.) |
 | **reiserlab/LED-Display_pyDisplayTools** (pyDisplayTools) | **Python** tools for the displays (G4 pattern + experiment-folder tools). **Accepted destination** for the Python arena library and the **headless runner** (`arena-run`), a peer of the web runner (decision 2026-10-26). |
-| **reiserlab/rig-nodes** | **Accepted destination, not yet created:** shared ROS 2 infrastructure for every lab rig (`rig_interfaces`, device nodes for FicTrac / Kinefly / BIAS / ScanImage / SiPM, MCAP recording and supervision primitives). Today that code lives in `webDisplayTools/rig/` on the 2026-10-20 release candidate. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. |
+| **reiserlab/rig-nodes** | **Current location (since 2026-10-26)** of the shared ROS 2 infrastructure for every lab rig: `rig_interfaces` (FicTracFrame, ArenaFrame, ConnectorReply), the device adapters + simulators (FicTrac, Kinefly, BIAS, ScanImage; SiPM and the ScanImage frames node follow when their PRs land), the MCAP recorder/indexer/CDR decoder/Foxglove rewriter, the supervision primitives and the Zenoh configs, as the `rig_nodes` + `rig_interfaces` packages (one package-set version, conda channel at a release tag). `CONTRACT.md` there is the graph contract (topics, QoS, envelope, invariants). webDisplayTools' `rig/` installs the set and keeps only the arena gateway, composition and visualization. Record: `webDisplayTools/docs/development/rig-software-repos-and-runners.md`. |
 
 ### G6 firmware (what the web connects to over USB)
 | repo | role |
@@ -120,13 +120,15 @@ interface.
   (`CE_DISPLAY_ACTIVE`); STOP also blanks the panels (they latch the last frame).
 - **"Web is the runner"** (CSHL) — the browser **executes** the protocol, host-timed:
   `js/arena-runner-g6.js`.
-- **FicTrac closed loop** — `fictrac_sim.py` (or real FicTrac) → **`fictrac-bridge/bridge.py`**
+- **FicTrac closed loop** — the FicTrac simulator (`rig_nodes.sims.fictrac_sim`, rig-nodes; or real FicTrac) → **`fictrac-bridge/bridge.py`**
   (WebSocket `ws://localhost:8765` ← UDP `:60000`) → browser. `pixi run bridge` + `pixi run
   sim` (start the bridge first). The web runner executes only the `fictrac` and `log` plugins;
   `backlight`/`camera`/`temperature` are declared for MATLAB and **skipped on the web**.
-- **ROS 2 graph (LAB-303, candidate 2026-10-20)** — `rig/` replaces the bridge with a graph
+- **ROS 2 graph (LAB-303, released 2026-10-20/26)** — `rig/` replaces the bridge with a graph
   (rmw_zenoh, MCAP record, BIAS + ScanImage connectors) behind the SAME WebSocket; the Studio is
-  unchanged. Where the pieces will live from here: `rig-software-repos-and-runners.md` (above).
+  unchanged. Since 2026-10-26 the device nodes, simulators and recording primitives come from the
+  installed `rig_nodes` package (reiserlab/rig-nodes); `rig/` keeps the gateway (`bridge_node.py`),
+  the composition (`rig.py`) and the arena visualization. Record: `rig-software-repos-and-runners.md`.
 
 ## Pointers (go here for depth)
 

CLAUDE.md

@@ -107,11 +107,18 @@ When editing web tools, audit all buttons and controls in the modified code sect
 - Dependencies via CDN or vendored under `js/vendor/` (e.g. `yaml`); no runtime npm
 - Web outputs must match MATLAB outputs exactly
 
-**Repository boundaries (decision 2026-10-26):** `docs/development/rig-software-repos-and-runners.md`
-is the record. The browser tools and their rig-side gateway (`rig/nodes/bridge_node.py`) stay
-here; the Python arena library + headless runner go to `LED-Display_pyDisplayTools`; shared ROS 2
-infrastructure (interfaces, device nodes, recording, supervision) goes to `rig-nodes`, which does not
-exist yet. Until the extraction session, every file is where the record's inventory says it is today.
+**Repository boundaries (decision 2026-10-26; extraction done the same day):**
+`docs/development/rig-software-repos-and-runners.md` is the record. The browser tools, their rig-side
+gateway (`rig/nodes/bridge_node.py`), the arena composition (`rig/nodes/rig.py`, `rig/pixi.toml`) and the
+arena visualization stay here; the Python arena library + headless runner go to
+`LED-Display_pyDisplayTools` (LAB-337); shared ROS 2 infrastructure lives in **`reiserlab/rig-nodes`**
+(`rig_interfaces`, the device adapters + simulators, `rig_nodes.recorder` / `mcap_index` / `cdr` /
+`foxglove_json`, `rig_nodes.supervise`, the Zenoh configs; contract: its `CONTRACT.md`) and is INSTALLED
+into `rig/` as the pinned `rig_nodes` + `rig_interfaces` packages from that repo's channel. A node fix
+is tested here with `pixi install -e dev` (rig-nodes `main` built from source — git source dependencies,
+NEVER path dependencies on a sibling checkout: pixi validates every environment's source paths before
+installing any environment, which broke `pixi install` on rig PCs on 2026-10-27); a release of the set
+re-pins `rig/pixi.toml`. Never re-add a device node or recorder copy under `rig/`.
 
 ### Dev environment (pixi — the only tool you install)
 

docs/development/rig-software-repos-and-runners.md

@@ -282,8 +282,11 @@ These items are the body of the rig-nodes ticket and apply to pyDisplayTools as
    `pixi install`. One tested package-set release per repository until independent cadence is
    demonstrated. Release gate: installed-package acceptance in a clean directory with the real JS
    client (today's harness runs source-tree files and a Python emulator). Retain an installable release
-   bundle so a channel outage never blocks a rig rebuild. Keep a sibling-checkout developer path (pixi
-   path dependencies) so a node fix never needs a release to test.
+   bundle so a channel outage never blocks a rig rebuild. Keep a developer path that builds rig-nodes from source so a
+   node fix never needs a release to test: pixi **git** source dependencies on rig-nodes `main`,
+   pinned in the lock (a local checkout by an uncommitted manifest edit) — not path dependencies on
+   a sibling checkout, because pixi validates every environment's source paths before installing any
+   environment and a rig PC has no such checkout (found 2026-10-27, ww18).
 7. **Lock files and skew.** A supported-combination table (Studio × gateway × package sets) rather than
    "minimum tested version"; every package version written into `run_metadata`; the shared graph is
    single-host initially (`bridge_node` compares adapter and gateway monotonic clocks; Zenoh is
@@ -375,6 +378,53 @@ The extraction session (LAB-338) starts from `rig/` on `main` with the §3.3 inv
 list; the open satellites above are the only in-flight changes under `rig/`. Nothing in this cleanup
 changed the inventory's destinations.
 
+### Extraction done (2026-10-26) — what the runner planning session inherits
+
+- **`reiserlab/rig-nodes` exists** with the §3.3 "rig-nodes" set moved from `rig/` **with history**
+  (`git filter-repo` on `main` a8ef775; the pre-rename `ros2-poc/` paths included) and restructured
+  as two pixi packages released together under one version (**0.2.1**): `src/rig_interfaces` (the
+  0.2.0 messages, host pinned to the RoboStack set the rigs run — `ros2-distro-mutex` 0.19 +
+  Python 3.12 on all three platforms; the 0.2.0 CI build had let two runners drift to 0.20 /
+  3.14) and `src/rig_nodes` (noarch Python: `_common`, the FicTrac / Kinefly / BIAS / ScanImage
+  adapters + command tools, the simulators incl. `fictrac_sim`, `recorder`, `mcap_index`, the CDR
+  decoder `cdr` (ex `mcap_convert`), the generic `foxglove_json` with an `enrich` hook, `graph_dump`,
+  `build_interfaces`, and three new modules: `supervise` (the process-group / port-preflight /
+  `Child` primitives extracted from `rig.py`), `fictrac` (THE FicTrac line grammar, ex
+  `_rows.parse_fictrac_line`) and `zenoh` (the loopback configs shipped inside the package +
+  `rig-router`)). `CONTRACT.md` there is checklist item 1(b); device-instance namespacing stayed
+  with LAB-340. CI (`package-set.yml`) builds both packages on win-64 / osx-arm64 / linux-64,
+  checks every package's pins, indexes the channel and installs it in a clean directory on each
+  platform to run the repository's tests (item 6's release gate). Tests: `tests/test_pure.py`
+  (29 checks) and `tests/test_device_nodes.py` (48 checks: sims → nodes → topics → loss
+  accounting + the recorder), the rig-nodes half of item 8.
+- **webDisplayTools `rig/`** keeps the §3.3 "stays" set and installs the package set from the
+  rig-nodes channel (`rig/pixi.toml`: `rig_nodes ==0.2.1`; the `typed` environment adds
+  `rig_interfaces ==0.2.1` in the SAME solve group, which the 0.2.0 pins had made impossible; the
+  `dev` environment swaps both for git source dependencies on rig-nodes `main`, pinned to one commit
+  in the lock — item 6's developer path; the first version used path dependencies on a sibling
+  checkout, which made `pixi install` fail on every machine without one and was replaced on
+  2026-10-27). `rig.py` composes with `rig_nodes.supervise`; `bridge_node` imports
+  `rig_nodes._common` / `recorder` / `mcap_index` and writes the package-set versions into
+  `hello_ack` and the `/arena/session` record (item 7); `mcap_convert` and `_rows` import the
+  decoder and the FicTrac grammar; `foxglove_json` is the arena `enrich` wrapper. The harness
+  (`rig/tests/test_ros2_poc.py`) runs against the INSTALLED packages and is the cross-repository
+  smoke (item 8). `fictrac-bridge/fictrac_sim.py` moved too; the root `pixi run sim` delegates to
+  the `rig/` workspace.
+- **Not moved, by the rule "anything doubtful stays":** `nodes/_rows.py` beyond the FicTrac parser
+  (behavior_v2 `kf` rows are arena format), the arena half of `foxglove_json.py`, every file the
+  inventory marks "stays"; `scanimage_frames_node` / SiPM / `bias_health` follow when #261, #266
+  and #269 land (each PR rebases onto this move: its new node goes to rig-nodes, its gateway edits
+  stay). `.github/workflows/rig-interfaces.yml` left with the package.
+- **State at the end of the session:** rig-nodes CI green on the three platforms (run
+  [40427967719](https://github.com/reiserlab/rig-nodes/actions/runs/40427967719), builds + channel +
+  clean-directory acceptance), tag `v0.2.1` placed on the release commit `e69ac22` (payload removed
+  again in `75b9986`), `rig/pixi.lock` re-locked on the tagged channel, webDisplayTools PR
+  [#274](https://github.com/reiserlab/webDisplayTools/pull/274) open. Open: the `okey-cokey` PR
+  #269 rebases over the move (it edits `rig.py`, `foxglove_json.py`, `viz_node.py`, adds
+  `bias_health.py`, which goes to rig-nodes); a Windows rig verifies `pixi install --locked` + the
+  harness (the `%CONDA_PREFIX%` activation paths ran only in rig-nodes' CI acceptance, not in this
+  workspace); LAB-337's runner planning session starts from the installed package set.
+
 ## 10. Decided, hypotheses, commitments
 
 - **Decided:** the three repositories and their downward dependencies; two peer runners with the web

fictrac-bridge/README.md

@@ -12,7 +12,7 @@ direction the browser sends JSON log events back, which the bridge appends to a
                                           └──────────▶ --log file (JSONL)
 ```
 
-For development without a camera or a real FicTrac install, `fictrac_sim.py`
+For development without a camera or a real FicTrac install, the FicTrac simulator (`rig_nodes.sims.fictrac_sim` in reiserlab/rig-nodes since 2026-10-26, installed by the `rig/` workspace; `pixi run sim` here delegates to it)
 generates random-walk data in FicTrac's exact wire format.
 
 ## Why a bridge at all?
@@ -390,6 +390,8 @@ bias, the rejection index and the idx-consistency check.
 
 ## fictrac_sim.py options
 
+> Since 2026-10-26 the simulator is `rig_nodes.sims.fictrac_sim` (reiserlab/rig-nodes); the options below are unchanged (`pixi run sim -- --help`).
+
 | Option | Default | Meaning |
 |---|---|---|
 | `file` (positional) | — | FicTrac log (CSV) to replay; omit to generate random data. |