Support Jazzy Jalisco

[jimmy-mcelwain]

I have a functional build of jazzy. I haven't tested it thoroughly, but I have done cursory testing and it seems to work well. Here is a summary of changes

I was able to update all of our repos to the versions available here https://github.com/ros2/ros2/releases/tag/release-jazzy-20240919 with a few exceptions that I'll go into.

For the ones that we already have forks of, I just pulled the upstream repos and then cherry-picked commits from our humble (or defunct iron) forks (rmw, rosidl_typesupport, and rcutils)

(https://github.com/Yaskawa-Global/micro_ros_rcl/tree/jazzy) is the only pre-existing fork that needed changes that couldn't just be cherry-picked, but the changes were pretty straightforward.

ros2/ros2_tracing: I am actually targeting this commit ros2/ros2_tracing@8d898b5 which is a few commits past the jazzy release. The reason for this is that the macros that were removed in the linked commit cause compilation to fail. We could instead create a fork of ros2_tracing and cherry pick the commit that I linked, but I believe that this works, and the fewer forks that we have the better.

There are some relevant changes for ament_cmake. First, I am now including ament_cmake_gen_version_h which was previously patched out (see Yaskawa-Global/ament_cmake@112e5d1). I changed its CMakeLists.txt to get rid of the language/toolchain requirement, which I'm assuming is the reason that it was excluded in the first place, and I got rid of the C/CXX standard requirements and testing. Secondly, due to ros2/libyaml_vendor#58, yaml.h and yaml.a are now installed in /install/opt rather than the /install/lib or /install/include directories. As mentioned here ros2/libyaml_vendor#60 this was a intentional design decision, but there is also still a related issue open here ament/ament_cmake#475 related to it. For now, I just changed the build script to build packages in /opt into the library and include their header files. I realize that this isn't ideal, but it at least builds properly.

I also took the opportunity to remove rcpputils from micro_ros_motoplus . I believe that this could be removed from humble too, and I may try to do so. The history for micro_ros_motoplus is messy right now, so I could separate this into its own commit and squash the iron changes since we never actually released iron.

I also updated motoplus_posix_shim and added an stroll implementation, so you'll need to update that to build libmicroros and have it load onto the controller properly.

I agree that the micro_ros_motoplus_buildscripts should build for all supported distributions and that it had a confusing history, so I made some changes there too. It can now build both humble and jazzy. We can merge that into main, and delete the jazzy and iron branches.

Finally, the iron_wip branch had confusing history and a lot of unnecessary changes, so I ended up branching from main instead and manually going through so the history is cleaner. Compared to iron, not a lot of changes are needed.

This zip file contains the libmicroros for jazzy as well as the .out file.
jazzy_yrc1000.zip

[gavanderhoorn]

Nice work. I'll take a more in-depth look later.

Could you please open PRs on the relevant repositories (except the forks of dependencies)? We can't review branches.

[jimmy-mcelwain]

Done I think. https://github.com/Yaskawa-Global/micro_ros_motoplus does not have a 'main' branch to pull into, so I am pulling into humble, but that is just so it is easy to review/we can have discussions. It shouldn't be merged into humble.