Merge branch 'main' into test

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "common/third_party/leg_tracker"]
+	path = common/third_party/leg_tracker
+	url = [email protected]:angusleigh/leg_tracker.git

common/helpers/cv2_pcl/src/cv2_pcl/__init__.py

@@ -2,12 +2,23 @@
 from sensor_msgs.msg import PointCloud2
 import ros_numpy as rnp
 import cv2
+from cv2_img import cv2_img_to_msg
 
 from typing import Tuple, Union
 
 Mat = np.ndarray
 
 
+def pcl_to_img_msg(pcl: PointCloud2) -> Mat:
+    """
+    Convert a given PointCloud2 message to img_msg
+    """
+    # keep the same timestamp
+    cv2 = pcl_to_cv2(pcl)
+
+    return cv2_img_to_msg(cv2, pcl.header.stamp)
+
+
 def pcl_to_cv2(
     pcl: PointCloud2, height: Union[int, None] = None, width: Union[int, None] = None
 ) -> Mat:

common/interfaces/coffee_shop_ui/robot-interface/components/screens/CreateOrder.tsx

@@ -7,29 +7,20 @@ import { SetStateAction, useState } from "react";
 type State = "edit" | "confirm";
 
 type Item =
-  | "coffee"
-  | "biscuits"
-  | "sandwich"
-  | "orange_juice"
-  | "smoothie"
-  | "granola";
+  | "cup"
+  // | "banana"
+  | "bottle";
 
 const items: Item[] = [
-  "coffee",
-  "biscuits",
-  "sandwich",
-  "orange_juice",
-  "smoothie",
-  "granola",
+  "cup",
+  // "banana",
+  "bottle",
 ];
 
 const NAMES: { [key in Item]: string } = {
-  coffee: 'Coffee',
-  biscuits: 'Biscuits',
-  sandwich: 'Sandwich',
-  orange_juice: 'Juice',
-  smoothie: 'Smoothie',
-  granola: 'Granola'
+  cup: 'Coffee',
+  // banana: 'Banana',
+  bottle: 'Coca Cola'
 }
 
 export function CreateOrder({ finish }: { finish: (order: Item[]) => void }) {
@@ -118,14 +109,9 @@ function EditMode({
   return (
     <>
       <div className="flex flex-row gap-4 flex-[2] min-h-0">
-        <Card item="coffee" order={order} setOrder={setOrder} />
-        <Card item="sandwich" order={order} setOrder={setOrder} />
-        <Card item="smoothie" order={order} setOrder={setOrder} />
-      </div>
-      <div className="flex flex-row gap-4 flex-[2] min-h-0">
-        <Card item="orange_juice" order={order} setOrder={setOrder} />
-        <Card item="granola" order={order} setOrder={setOrder} />
-        <Card item="biscuits" order={order} setOrder={setOrder} />
+        <Card item="cup" order={order} setOrder={setOrder} />
+        {/* <Card item="banana" order={order} setOrder={setOrder} /> */}
+        <Card item="bottle" order={order} setOrder={setOrder} />
       </div>
       <div className="flex flex-row gap-4 flex-1">
         <div