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

@@ -50,12 +50,12 @@ 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 >>>
 
 # Ignore some deprecation warnings
-export PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
+export PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
 
 # Limit ROS 2 communication to localhost (can be overridden when needed)
 export ROS_DOMAIN_ID=24

.git-blame-ignore-revs

@@ -11,3 +11,4 @@ f29fb619aef9f416cbbdc74ec77c23423dcefe07
 3b9f322183bed2cb271bf6bd07d803a93c398c3e
 ae9fbef74c50ba1e462d1b76da16779c76aa0d5b
 476e75e3f3d17c35ac89b17f513d93078687d613
+cd3280273363807e1b5df2ade0138d48178cb06b

.github/workflows/ci.yml

@@ -8,7 +8,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:jammy
+      image: ubuntu:noble
 
     steps:
       - name: Cancel outdated jobs
@@ -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

.github/workflows/pre-commit.yml

@@ -7,10 +7,10 @@ on:
 
 jobs:
   pre-commit:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v4
       - name: Install cppcheck
         run: sudo apt install cppcheck -y
-      - uses: pre-commit/[email protected].0
+      - uses: pre-commit/[email protected].1

.gitignore

@@ -97,8 +97,6 @@ qtcreator-*
 # Emacs
 .#*
 
-# Catkin custom files
-CATKIN_IGNORE
 ### Python template
 # Byte-compiled / optimized / DLL files
 __pycache__/
@@ -220,7 +218,7 @@ doku/*
 # library subdirectories
 /lib/
 
-# Path to the protocol buffer definitions, which are a diffrerent repository and managed by vcstool
+# Path to the protocol buffer definitions, which are a different repository and managed by vcstool
 /bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
 # Protobuf generated file
 /bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py

.pre-commit-config.yaml

@@ -16,7 +16,7 @@ repos:
       - id: cppcheck
         args:
           - "--inline-suppr"
-          - "--suppress=missingInclude"
+          - "--suppress=missingIncludeSystem"
           - "--suppress=unmatchedSuppression"
           - "--suppress=unusedFunction"
           - "--suppress=unusedStructMember"
@@ -27,7 +27,7 @@ repos:
       - id: cmake-format
       - id: cmake-lint
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v5.0.0
     hooks:
       - id: check-merge-conflict
       - id: check-toml

.vscode/settings.json

@@ -117,6 +117,7 @@
         "unpenalize",
         "unpenalized",
         "urdf",
+        "vcstool",
         "walkready",
         "wandb",
         "webots",
@@ -218,13 +219,13 @@
     },
     // 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
@@ -90,8 +90,8 @@ rosdep:
 	# Initialize rosdep if not already done
 	[ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init
 	# Update rosdep and install dependencies from meta directory
-	rosdep update --include-eol-distros
-	rosdep install --from-paths . --ignore-src --rosdistro iron -y
+	rosdep update
+	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_behavior/bitbots_body_behavior/package.xml

@@ -30,6 +30,7 @@
   <depend>tf_transformations</depend>
   <depend>tf2</depend>
 
+  <test_depend>python3-pytest</test_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>

bitbots_behavior/bitbots_body_behavior/setup.py

@@ -1,13 +1,13 @@
 import glob
 
-from setuptools import setup
+from setuptools import find_packages, setup
 
 package_name = "bitbots_body_behavior"
 
 
 setup(
     name=package_name,
-    packages=[package_name],
+    packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/" + package_name, ["package.xml"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),

bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt

@@ -20,7 +20,6 @@ find_package(moveit_core REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(realtime_tools REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
@@ -66,7 +65,6 @@ ament_target_dependencies(
   moveit_ros_planning
   pluginlib
   rclcpp
-  realtime_tools
   rosidl_typesupport_cpp
   std_msgs
   std_srvs
@@ -89,7 +87,6 @@ ament_target_dependencies(
   hardware_interface
   pluginlib
   rclcpp
-  realtime_tools
   rosidl_typesupport_cpp
   std_msgs
   std_srvs
@@ -107,7 +104,6 @@ ament_export_dependencies(controller_manager)
 ament_export_dependencies(dynamixel_workbench_toolbox)
 ament_export_dependencies(hardware_interface)
 ament_export_dependencies(pluginlib)
-ament_export_dependencies(realtime_tools)
 ament_export_dependencies(std_msgs)
 ament_export_dependencies(tf2_ros)
 ament_export_dependencies(transmission_interface)

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/package.xml

@@ -31,13 +31,13 @@
   <depend>bitbots_tts</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>realtime_tools</depend>
   <depend>std_msgs</depend>
   <depend>system_monitor</depend>
   <depend>transmission_interface</depend>
   <depend>yaml-cpp</depend>
 
   <exec_depend>imu_complementary_filter</exec_depend>
+  <exec_depend>rviz_imu_plugin</exec_depend>
 
 
   <export>