Jazzy migration

.devcontainer/Dockerfile

@@ -1,4 +1,8 @@
-FROM ros:iron
+FROM ros:jazzy
+
+ARG user=bitbots
+ARG uid=1000
+ARG gid=1000
 
 # Basic Utilities
 ENV DEBIAN_FRONTEND=noninteractive
@@ -54,41 +58,51 @@ RUN apt update -y \
 RUN apt-get install -y \
   python3-rosdep \
   python3-vcstool \
-  ros-iron-camera-calibration \
-  ros-iron-desktop \
-  ros-iron-joint-state-publisher-gui \
-  ros-iron-plotjuggler \
-  ros-iron-plotjuggler-msgs \
-  ros-iron-plotjuggler-ros \
-  ros-iron-rmw-cyclonedds-cpp \
-  ros-iron-rqt-robot-monitor \
-  ros-iron-soccer-vision-3d-rviz-markers
-
-# Update pip and install colcon-clean
-RUN pip3 install pip -U
-
-# Install colcon extensions / patches
-RUN python3 -m pip install \
-  git+https://github.com/ruffsl/colcon-clean \
-  git+https://github.com/timonegk/colcon-core.git@colors \
-  git+https://github.com/timonegk/colcon-notification.git@colors \
-  git+https://github.com/timonegk/colcon-output.git@colors
+  python3-virtualenv \
+  ros-jazzy-camera-calibration \
+  ros-jazzy-desktop \
+  ros-jazzy-joint-state-publisher-gui \
+  ros-jazzy-plotjuggler \
+  ros-jazzy-plotjuggler-msgs \
+  ros-jazzy-plotjuggler-ros \
+  ros-jazzy-rmw-cyclonedds-cpp \
+  ros-jazzy-rqt-robot-monitor \
+  ros-jazzy-soccer-vision-3d-rviz-markers
 
 # Set zsh as default shell
 SHELL ["/bin/zsh", "-c"]
 
-# Create home directory and colcon workspace
-RUN mkdir -p "/root/colcon_ws"
+# Remove the users group, because when it exists on the host system
+# the devcontainer will not dynamically update the containerUser GID,
+# when the host user is part of the users group.
+# Then create a bitbots user with home directory and add allow it to use sudo
+RUN groupdel users \
+  && userdel -r ubuntu \
+  && useradd -m -U -u "$uid" -G sudo -s /bin/zsh $user \
+  && groupmod -g "$gid" $user \
+  && echo "$user ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
+
+USER $user
+
+# Install pip colcon extensions / patches as user
+RUN python3 -m pip install --user --break-system-packages \
+    git+https://github.com/ruffsl/colcon-clean \
+    git+https://github.com/timonegk/colcon-core.git@colors \
+    git+https://github.com/timonegk/colcon-notification.git@colors \
+    git+https://github.com/timonegk/colcon-output.git@colors
+
+# Create colcon workspace
+RUN mkdir -p /home/$user/colcon_ws/src
 
 # Install oh-my-zsh for pretty terminal
 RUN sh -c "$(wget -O- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \
-  git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions
+  git clone https://github.com/zsh-users/zsh-autosuggestions "${ZSH_CUSTOM:-$HOME/.oh-my-zsh/custom}/plugins/zsh-autosuggestions"
 
-# Add zshrc
-COPY zshrc "/root/.zshrc"
+# Add zshrc to bitbots home directory
+COPY --chown=$user:$user zshrc /home/$user/.zshrc
 
 # This is required for sharing Xauthority
 ENV QT_X11_NO_MITSHM=1
 
 # Switch to the workspace directory
-WORKDIR "/root/colcon_ws"
+WORKDIR /home/$user/colcon_ws

.devcontainer/devcontainer.json

@@ -1,5 +1,5 @@
 {
-  "name": "Bit-Bots Iron Dev",
+  "name": "Bit-Bots Jazzy Dev",
 
   "build": { "dockerfile": "Dockerfile" },
 
@@ -14,14 +14,16 @@
     "vscode": {
       "settings": {
         "terminal.integrated.defaultProfile.linux": "zsh",
-        "terminal.integrated.profiles.linux": { "zsh": { "path": "/bin/zsh" } }
+        "terminal.integrated.profiles.linux": { "zsh": { "path": "/bin/zsh" } },
+        "dev.containers.copyGitConfig": false,
+        "dev.containers.gitCredentialHelperConfigLocation": "none"
       },
       "extensions": ["ms-iot.vscode-ros"]
     }
   },
 
-  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/root/colcon_ws/src/bitbots_main",
-  "workspaceFolder": "/root/colcon_ws/src/bitbots_main",
+  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/colcon_ws/src/bitbots_main",
+  "workspaceFolder": "/home/bitbots/colcon_ws/src/bitbots_main",
 
   "mounts": [
     "type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached"

.devcontainer/zshrc

@@ -50,7 +50,7 @@ bindkey "^[[1;5D" backward-word
 
 
 # Settings for the prompt to show that we are in a docker container
-export PROMPT="%K{black} 🐋 %K{blue}%F{black}%/ %f%k%F{blue}%f "  # Prefix the prompt with DOCKER
+export PROMPT="%K{black} 🐋 %K{blue}%F{black} %~ %f%k%F{blue}%f "  # Prefix the prompt with DOCKER
 
 # >>> bit-bots initialize >>>
 

.github/workflows/ci.yml

@@ -39,14 +39,14 @@ jobs:
 
       - name: Build packages
         run: |
-          . /opt/ros/iron/setup.sh
+          . /opt/ros/jazzy/setup.sh
           colcon build --symlink-install
         working-directory: /colcon_ws
 
       - name: Test packages
         run: |
           # Source workspace
-          . /opt/ros/iron/setup.sh
+          . /opt/ros/jazzy/setup.sh
           . install/setup.sh
           # Run tests for all packages
           colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1

.pre-commit-config.yaml

@@ -16,7 +16,7 @@ repos:
       - id: cppcheck
         args:
           - "--inline-suppr"
-          - "--suppress=missingInclude"
+          - "--suppress=missingIncludeSystem"
           - "--suppress=unmatchedSuppression"
           - "--suppress=unusedFunction"
           - "--suppress=unusedStructMember"

.vscode/settings.json

@@ -218,13 +218,13 @@
     },
     // Tell the ROS extension where to find the setup.bash
     // This also utilizes the COLCON_WS environment variable, which needs to be set
-    "ros.distro": "iron",
+    "ros.distro": "jazzy",
     "search.useIgnoreFiles": false,
     "python.autoComplete.extraPaths": [
-        "/opt/ros/iron/lib/python3.10/site-packages"
+        "/opt/ros/jazzy/lib/python3.10/site-packages"
     ],
     "python.analysis.extraPaths": [
-        "/opt/ros/iron/lib/python3.10/site-packages"
+        "/opt/ros/jazzy/lib/python3.10/site-packages"
     ],
     "cmake.configureOnOpen": false,
     "editor.formatOnSave": true,

Makefile

@@ -17,7 +17,7 @@ install-no-root: pull-init update-no-root
 
 pip:
 	# Install and upgrade pip dependencies
-	pip install --upgrade -r requirements/dev.txt --user
+	pip install --upgrade -r requirements/dev.txt --user --break-system-packages
 
 pre-commit:
 	# Install pre-commit hooks for all submodules that have a .pre-commit-config.yaml file
@@ -91,7 +91,7 @@ rosdep:
 	[ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init
 	# Update rosdep and install dependencies from meta directory
 	rosdep update
-	rosdep install --from-paths . --ignore-src --rosdistro iron -y
+	rosdep install --from-paths . --ignore-src --rosdistro jazzy -y
 
 status:
 	# Show status of all repositories

README.md

@@ -2,7 +2,7 @@
 
 [![Build & Test](https://github.com/bit-bots/bitbots_main/actions/workflows/ci.yml/badge.svg)](https://github.com/bit-bots/bitbots_main/actions/workflows/ci.yml)
 [![Code style checks](https://github.com/bit-bots/bitbots_main/actions/workflows/pre-commit.yml/badge.svg)](https://github.com/bit-bots/bitbots_main/actions/workflows/pre-commit.yml)
-[![ROS Version Iron](https://img.shields.io/badge/ROS%20Version-Iron-ab8c71)](https://docs.ros.org/en/iron/index.html)
+[![ROS Version Jazzy](https://img.shields.io/badge/ROS%20Version-Jazzy-00b8ff)](https://docs.ros.org/en/jazzy/index.html)
 
 This git repository contains all RoboCup-related code and documentation from the Hamburg Bit-Bots team.
 All code is written as individual ROS 2 packages targeting Ubuntu.

bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp

@@ -12,11 +12,11 @@ class HardwareInterface {
  public:
   virtual bool init() = 0;
 
-  virtual void read(const rclcpp::Time &t, const rclcpp::Duration &dt){};
+  virtual void read(const rclcpp::Time &t, const rclcpp::Duration &dt) {};
 
-  virtual void write(const rclcpp::Time &t, const rclcpp::Duration &dt){};
+  virtual void write(const rclcpp::Time &t, const rclcpp::Duration &dt) {};
 
-  virtual void restoreAfterPowerCycle(){};
+  virtual void restoreAfterPowerCycle() {};
 
   virtual ~HardwareInterface(){};
 };

bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/utils.hpp

@@ -1,8 +1,8 @@
 #ifndef BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_UTILS_H_
 #define BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_UTILS_H_
 
-#include "bitbots_msgs/msg/audio.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include <bitbots_msgs/msg/audio.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 namespace bitbots_ros_control {
 
@@ -13,7 +13,7 @@ void speakError(rclcpp::Publisher<bitbots_msgs::msg::Audio>::SharedPtr speak_pub
 
 uint16_t dxlMakeword(uint64_t a, uint64_t b);
 uint32_t dxlMakedword(uint64_t a, uint64_t b);
-float dxlMakeFloat(uint8_t* data);
+float dxlMakeFloat(const uint8_t* data);
 
 std::string gyroRangeToString(uint8_t range);
 std::string accelRangeToString(uint8_t range);

bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp

@@ -148,7 +148,7 @@ void DynamixelServoHardwareInterface::individualTorqueCb(bitbots_msgs::msg::Join
       RCLCPP_WARN(nh_->get_logger(), "Couldn't set torque for servo %s ", msg.joint_names[i].c_str());
     }
   }
-  for (auto &bus : bus_interfaces_) {
+  for (const auto &bus : bus_interfaces_) {
     bus->switch_individual_torque_ = true;
   }
 }
@@ -157,7 +157,7 @@ void DynamixelServoHardwareInterface::setTorqueCb(std_msgs::msg::Bool::SharedPtr
   /**
    * This saves the given required value, so that it can be written to the servos in the write method
    */
-  for (auto &bus : bus_interfaces_) {
+  for (const auto &bus : bus_interfaces_) {
     bus->goal_torque_ = enabled->data;
   }
   for (size_t j = 0; j < joint_names_.size(); j++) {
@@ -196,7 +196,7 @@ void DynamixelServoHardwareInterface::write(const rclcpp::Time &t, const rclcpp:
   // set all values from controller to the buses
   // todo improve performance
   int i = 0;
-  for (auto &bus : bus_interfaces_) {
+  for (const auto &bus : bus_interfaces_) {
     for (int j = 0; j < bus->joint_count_; j++) {
       bus->goal_position_[j] = goal_position_[i];
       bus->goal_velocity_[j] = goal_velocity_[i];

bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp

@@ -76,8 +76,7 @@ PressureConverter::PressureConverter(rclcpp::Node::SharedPtr nh, char side) {
   }
   for (int i = 0; i < 4; i++) {
     std::stringstream single_wrench_frame;
-    single_wrench_frame << side << "_"
-                        << "cleat_" << wrench_topics[i];
+    single_wrench_frame << side << "_" << "cleat_" << wrench_topics[i];
     wrench_frames_.push_back(single_wrench_frame.str());
   }
 

bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp

@@ -202,7 +202,7 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
   // Allocate memory for the values in the driver
   std::vector<int> values(joint_names_.size());
   // Iterate over parameter names
-  for (auto register_name : parameter_names) {
+  for (const auto &register_name : parameter_names) {
     // Get the value for each joint
     for (size_t num = 0; num < joint_names_.size(); num++) {
       // Get the value from the cache

bitbots_lowlevel/bitbots_ros_control/src/utils.cpp

@@ -40,7 +40,7 @@ uint32_t dxlMakedword(uint64_t a, uint64_t b) {
   return uint32_t(uint16_t(a & 0xffff) | uint32_t(uint16_t(b & 0xffff) << 16));
 }
 
-float dxlMakeFloat(uint8_t* data) {
+float dxlMakeFloat(const uint8_t* data) {
   float f;
   uint32_t b = dxlMakedword(dxlMakeword(data[0], data[1]), dxlMakeword(data[2], data[3]));
   memcpy(&f, &b, sizeof(f));

bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp

@@ -307,7 +307,7 @@ void WolfgangHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Durat
   }
   if (!bus_start_time_ || t > bus_start_time_.value()) {
     if (bus_first_write_) {
-      for (std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces : interfaces_) {
+      for (std::vector<std::shared_ptr<HardwareInterface>> const &port_interfaces : interfaces_) {
         for (std::shared_ptr<HardwareInterface> interface : port_interfaces) {
           interface->restoreAfterPowerCycle();
         }

bitbots_misc/bitbots_basler_camera/src/basler_camera.cpp

@@ -12,14 +12,13 @@
 #include <iostream>
 #include <memory>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <pylon_camera_parameters.hpp>
 #include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <vector>
 
-#include "pylon_camera_parameters.hpp"
-
 using std::placeholders::_1, std::placeholders::_2;
 using namespace Pylon;
 
@@ -271,7 +270,8 @@ class BaslerCamera {
     }
 
     // Convert to cv::Mat
-    cv::Mat image(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC1, (uint8_t*)ptrGrabResult->GetBuffer());
+    cv::Mat image(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC1,
+                  static_cast<uint8_t*>(ptrGrabResult->GetBuffer()));
 
     // Create cv::Mat for color image
     cv::Mat color(image.size(), CV_MAKETYPE(CV_8U, 3));

bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst

@@ -49,7 +49,7 @@ Compile (compiles)
 ------------------
 
 The first step is to test if the package compiles.
-Obviously this should preferably be tested on the same system that is used on the robot (Ubuntu 22.04 with the iron distribution).
+Obviously this should preferably be tested on the same system that is used on the robot (Ubuntu 24.04 with the jazzy distribution).
 A part of this is to check if all dependencies are correct in the package.xml.
 This is important so they can be installed with rosdep.
 

bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst

@@ -35,7 +35,7 @@ For compilation of the whole meta repository run ``cba``, which is an alias for:
 ``cd $COLCON_WS; colcon build --symlink-install --continue-on-error``
 After a successful run, before we are able to use any ros commands we now need to source colcon built sources
 with ``sa``, which is an alias for:
-``source "/opt/ros/iron/setup.$SHELL" && source "$COLCON_WS/install/setup.$SHELL"``
+``source "/opt/ros/jazzy/setup.$SHELL" && source "$COLCON_WS/install/setup.$SHELL"``
 
 **3. Run Webots Simulation**
 

bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst

@@ -1,13 +1,13 @@
 Software installation with ROS2
 ===============================
 
-In this tutorial, we will learn how to install ROS2 Iron Irwini on Ubuntu 22.04 and build our software stack.
+In this tutorial, we will learn how to install ROS2 Jazzy Jalisco on Ubuntu 24.04 and build our software stack.
 
 **TLDR**: single command setup
 ------------------------------
 
 **Prerequirements**
-- You have a running Ubuntu 22.04 environment
+- You have a running Ubuntu 24.04 environment
 - You have an existing Github account and added a SSH key to your account
 - You have root access to your system (sudo)
 
@@ -23,17 +23,17 @@ If you have not previously set up any of our software stack, you can use the fol
 Manual steps with in depth explanation
 --------------------------------------
 
-**0. Use Ubuntu 22.04**
+**0. Use Ubuntu 24.04**
 
 As ROS works best on Ubuntu, we are using this distribution.
-Currently, ROS2 Iron runs on Ubuntu 22.04.
+Currently, ROS2 Jazzy runs on Ubuntu 24.04.
 
-If you are not already using Ubuntu 22.04, consider installing it on your system (perhaps as a dual boot?).
+If you are not already using Ubuntu 24.04, consider installing it on your system (perhaps as a dual boot?).
 Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a preconfigured environment and follow those instructions, as these docs do not apply to the devcontainer.
 
 **1. Setup and Install ROS 2**
 
-- Follow this guide and when it comes to the section **Install ROS 2 packages**, install the recommended ``ros-iron-desktop-full``: https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html
+- Follow this guide and when it comes to the section **Install ROS 2 packages**, install the recommended ``ros-jazzy-desktop-full``: https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
 - Install additional dependencies:
 
 .. code-block:: bash
@@ -88,7 +88,7 @@ If you want to install it, you can do so by running ``make webots`` in the bitbo
 
 **4. Setup colcon workspace**
 
-`Colcon <https://docs.ros.org/en/iron/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html>`_ is the tool provided by ROS 2 to build and install our ROS packages, so that they can be launched later.
+`Colcon <https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html>`_ is the tool provided by ROS 2 to build and install our ROS packages, so that they can be launched later.
 The colcon workspace is where your source code gets build and where we use colcon.
 
 - Create colcon workspace directory (typically ``~/colcon_ws/``)

bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst

@@ -9,14 +9,14 @@ Navigate to your colcon workspace.
 
 Source ros
 
-`source /opt/ros/iron/setup.zsh`
+`source /opt/ros/jazzy/setup.zsh`
 
 Open VSCode
 
 `code .`
 
 Install the ROS extension (from Microsoft).
-You should see a `ROS2.iron` in the lower left corner.
+You should see a `ROS2.jazzy` in the lower left corner.
 
 Now you should be able to build the code with `Ctrl+Shift+B`