refactor(launcher): split into package and preserve services on core restart

README.md

@@ -74,7 +74,7 @@ Or Git Bash: `./launch_lucy.sh`
 
 ## Using the Lucy launcher
 
-After **`Launch`**, enable **Core + Control Panel** in the launcher. Once it is running, the **Lucy Control Panel is accessible in your browser at [http://localhost:4004](http://localhost:4004)** (or the next free port if 4004 is already taken). The launcher also shows the exact URL next to the Control Panel entry once it's up.
+**Launch** starts a **tmux** session (Linux/macOS) and the **Lucy Control Center** TUI (`python -m launcher`, or `python launcher.py` / `./launch_lucy.sh`):
 
 | Key | Action |
 |-----|--------|

config/repos.json

@@ -24,13 +24,6 @@
       "optional": true,
       "url_https": "https://github.com/micro-ROS/micro-ROS-Agent.git",
       "url_ssh": "git@github.com:micro-ROS/micro-ROS-Agent.git"
-    },
-    {
-      "name": "audio_common",
-      "branch": "ros2",
-      "optional": true,
-      "url_https": "https://github.com/ros-drivers/audio_common.git",
-      "url_ssh": "git@github.com:ros-drivers/audio_common.git"
     }
   ]
 }

docs/developer_lucy_packages.md

@@ -70,7 +70,7 @@ Developer CLI equivalents:
 | `Lucy.exe` | `./launch_lucy.sh` |
 | `Lucy.exe --cli build-only` | `./install.sh --build-only` |
 
-Launch runs via Git Bash (`bash launch_lucy.sh`). Without tmux, the Control Center runs directly (`pixi run -- python launcher.py`).
+Launch runs via Git Bash (`bash launch_lucy.sh`). Without tmux, the Control Center runs directly (`pixi run -- python -m launcher`).
 
 ### Workspace install (`install.sh`)
 

docs/launcher_packages.md

@@ -4,7 +4,7 @@ The launcher's configuration is entirely driven by the `launcher_config.json` fi
 
 ### Local launcher overrides (`config/launcher_config.json.local`)
 
-To customize the launcher package list (add experimental tools, tweak commands, or hide entries) without editing the tracked `config/launcher_config.json`, create **`config/launcher_config.json.local`**. When present it is used instead of `launcher_config.json` by `launcher.py`, and it is gitignored so overrides are never committed.
+To customize the launcher package list (add experimental tools, tweak commands, or hide entries) without editing the tracked `config/launcher_config.json`, create **`config/launcher_config.json.local`**. When present it is used instead of `launcher_config.json` by the launcher (`python -m launcher` or `python launcher.py`), and it is gitignored so overrides are never committed.
 
 Use the same structure as `launcher_config.json` — copy the file and edit as needed, or include only the `packages` entries you want to change if you prefer a full replacement (the local file replaces the tracked file entirely, it is not merged).
 
@@ -40,16 +40,27 @@ Every package entry in `config/launcher_config.json` uses the following fields t
 | `command` | `string` or `object` | The shell command to execute. <br> - **For `"core"`**: The base command (e.g. `ros2 launch ...`). <br> - **For `"modifier"`**: The argument string appended to the core command. <br> - **For `"interface"` / `"tool"`**: A simple string executed in a new tmux window, or a complex object containing `"start"`, `"stop"`, and `"is_running"` shell commands for custom background handling (like the web control panel). |
 | `default_on` | `boolean` | If set to `true`, the package will be selected by default when the launcher boots up (currently unused as the launcher loads an empty initial state, but available for future functionality). |
 
-### Under the Hood (`launcher.py` and `launch_lucy.sh`)
+### Under the Hood (`launcher` and `launch_lucy.sh`)
 
 When you run `./launch_lucy.sh`:
 
 1. It ensures the workspace is built (`install/setup.bash` exists).
 2. On Linux/macOS with **host tmux**, it starts or attaches to a **tmux** session named `lucy_ws`.
-3. The main window runs `pixi run -- python launcher.py` (Control Center TUI).
+3. The main window runs `pixi run -- python -m launcher` (Control Center TUI).
 
 Package commands in other tmux windows are wrapped in `pixi run` so each pane gets RoboStack and the colcon overlay. Display and OpenGL-related variables from your shell and `.env` are forwarded into those panes.
 
-When you apply changes in `launcher.py`:
+When you apply changes in the launcher:
 - **Core + Modifiers:** The script takes the core command, appends all active modifier commands, and spins up a dedicated `core` tmux window.
 - **Interfaces / Tools:** The script spins up a new tmux window named after the package's `id` and executes its command via Pixi. Legacy complex `{start, stop, is_running}` objects are still supported for local overrides.
+
+### Stopping packages and exiting
+
+On **Linux and macOS**, services run in **tmux** windows. On **Windows** (Git Bash, no tmux), the same launcher TUI runs but process detection uses cross-platform logic; orphan cleanup is scoped to this workspace path so other projects are not affected.
+
+- **Q**, **X**, or **Esc** — prompts *Stop all processes and exit?*; on **y**, every running package is torn down, then workspace-scoped orphans are killed in a **single cleanup pass** (including **Gazebo `gz sim`**, which often appears as **ruby** in `top` because Pixi wraps it), then the tmux session ends.
+- Short-lived **`gz sim server`** / **`gz sim gui`** processes often have no workspace path in their command line; cleanup also checks **cwd**, **Pixi/Conda env**, and **`GZ_SIM_*`** variables so they are still reaped safely.
+- **Enter (Apply)** with boxes unticked — stops those packages asynchronously; orphan cleanup runs after each stop completes.
+- **Ctrl+C** outside the TUI — also triggers a full stop on exit.
+
+Unticking a single package (e.g. Control Panel) sends **Ctrl+C** to its tmux window, waits briefly, removes the window, then reaps any workspace-scoped stragglers (`vite`, `gz sim`, `rosbridge`, etc.).

launch_lucy.sh

@@ -137,7 +137,7 @@ TMUX_SESSION="${LUCY_TMUX_SESSION:-lucy_ws}"
 case "$(uname -s)" in
   Linux|Darwin)
     if command -v tmux >/dev/null 2>&1; then
-      LAUNCH_CMD="cd \"${SCRIPT_DIR}\" && pixi run -- python launcher.py"
+      LAUNCH_CMD="cd \"${SCRIPT_DIR}\" && pixi run -- python -m launcher"
       export LUCY_TMUX_SESSION="$TMUX_SESSION"
       exec bash -c "
         set -e
@@ -157,4 +157,4 @@ case "$(uname -s)" in
 esac
 
 # Git Bash / MSYS on Windows: no tmux — run the Control Center launcher directly.
-exec pixi run -- python launcher.py
+exec pixi run -- python -m launcher