refactor: Separate ROS2 dependencies from Python dependencies

[coderabbitai]

Background

Currently, some Python packages used in the codebase (e.g., tf_transformations) are installed via rosdep. As part of the transition from a ROS2 package to a pure Python package, we need to properly declare these dependencies in pyproject.toml.

Tasks

• Identify all Python packages currently installed via rosdep
• Add these packages to pyproject.toml with appropriate version constraints
• Update documentation to reflect the changes in dependency management
• Test installation outside of ROS workspace

References

• PR: refactor: rai the package #386
• Comment: refactor: rai the package #386 (comment)

Notes

This issue consolidates all ROS2 dependency-related comments from PR #386 to track the separation of ROS2 dependencies from Python dependencies.

[maciejmajek]

Effort started under #411. Additional things to be done in the future.

[maciejmajek]

Dockerfile courtesy of @boczekbartek for testing rosless setups.

FROM ubuntu:24.04 
ENV DEBIAN_FRONTEND=noninteractive

# Install dependencies
RUN apt-get update && apt-get install -y \
    python3 \
    python3-pip \
    git \
    wget \
    curl

# Install Poetry
RUN curl -sSL https://install.python-poetry.org/ | python3 - --version 1.8.4
ENV PATH="/root/.local/bin:$PATH"

# Clone and setup RAI
WORKDIR /rai
RUN git clone --branch development https://github.com/RobotecAI/rai.git .

USER root 
# Install Python dependencies with Poetry
RUN poetry install --with nomad,openset