[Idate96]

Summary

• contain exceptions at ThreadPool and ROS callback boundaries while draining in-flight work before rethrowing
• require an explicit successful reset after a failed MPC solve and cold-reset the solver across observation-time discontinuities
• attach reset epochs and monotonic sequences to policies so MRT rejects stale, duplicate, out-of-order, and unacknowledged-generation policies
• validate observations, targets, mode schedules, performance data, and flattened controllers before they cross the ROS boundary
• prevent a policy serialized before reset from being published after reset completes
• run Jazzy CI for the ros2 branch and expose the plane-segmentation packages required by the full workspace build

Compatibility

This changes ocs2_msgs/msg/MpcFlattenedController and the response of ocs2_msgs/srv/Reset. Downstream ROS 2 consumers must rebuild and use the reset epoch returned by a successful reset before accepting policies.

Validation

• Jazzy Release build: 54 packages
• Jazzy full test suite: 596 tests, 0 errors, 0 failures, 0 skipped
• Jazzy Debug build through ocs2_ros_interfaces: 6 packages
• focused Release tests for ocs2_core, ocs2_mpc, and ocs2_ros_interfaces: 179 tests, 0 failures
• ThreadSanitizer: 21 thread-support tests, including all 11 ThreadPool tests, passed with no findings
• ThreadSanitizer: all 6 ROS-interface tests passed with no findings
• rosdep: all dependencies for ocs2_mpc and ocs2_ros_interfaces satisfied
• package manifests: XML validation passed
• git diff --check origin/ros2: passed
• generic-boundary scan: no Mole, Menzi, excavator, hydraulic, actuator, terrain-SDF, grading, joint-state, or M4-specific terms in the changed upstream files

Review notes

• Base branch: ros2
• The planning document is locally excluded and is not part of the commit set.
• Mole arm-controller integration remains in moleworks_ros and is not part of this PR.