Move to ROS 2 Jazzy

.ros_distro

@@ -1 +1 @@
-humble
+jazzy

pixi.toml

@@ -8,10 +8,10 @@ authors = [
     "Carson Burnett <carsonburnett379@icloud.com>",
     "Mizael Morales <mizaelmorales321@gmail.com>",
 ]
-channels = ["conda-forge", "robostack-humble"]
+channels = ["conda-forge", "robostack-jazzy"]
 name = "auto_ros2"
 platforms = ["linux-aarch64", "linux-64", "osx-arm64", "osx-64"]
-version = "0.1.0"
+version = "0.2.0"
 
 [dependencies]
 # note: all the lil blocks down here are related groups, each in alphabetical
@@ -23,22 +23,22 @@ version = "0.1.0"
 # command-line tools (not for compilation)
 gh = { version = ">=2.78.0", channel = "conda-forge" }            # GitHub CLI
 just = { version = ">=1.42.4,<2", channel = "conda-forge" }       # `just` command runner
-lazygit = { version = ">=0.54.2,<0.55", channel = "conda-forge" } # `git` TUI tool
+lazygit = { version = ">=0.54.2,<0.55", channel = "conda-forge" } # `lazygit` TUI tool
 
 # build tools (e.g., c compiler, rust, glibc)
 c-compiler = { channel = "conda-forge" }
 clang = { channel = "conda-forge" }
 clangxx = { channel = "conda-forge" }
 cxx-compiler = { channel = "conda-forge" }
-glib = { version = ">=2.80.2,<3", channel = "conda-forge" }
+glib = { channel = "conda-forge" }
 make = { version = "==4.4.1", channel = "conda-forge" }
 rust = { version = ">=1.89.0", channel = "conda-forge" }
 rust-src = { version = ">=1.89.0", channel = "conda-forge" }
 
 # system python dependencies
 basedpyright = { version = ">=1.31.3", channel = "conda-forge" }
 numpy = ">=1.26,<2"
-python = "3.11.*"
+python = "3.12.*"
 ruff = ">=0.12.11"
 uv = { version = "==0.8.11", channel = "conda-forge" }
 
@@ -49,125 +49,100 @@ colcon-common-extensions = { channel = "conda-forge" }
 colcon-mixin = { channel = "conda-forge" }
 colcon-ros = { channel = "conda-forge" }
 colcon-test-result = { channel = "conda-forge" }
-ros-humble-cyclonedds = { channel = "robostack-humble" }
-ros-humble-ros2cli = { channel = "robostack-humble" }
-ros-humble-ros2cli-common-extensions = { channel = "robostack-humble" }
-ros2-distro-mutex = { version = ">=0.7", channel = "robostack-humble" } # IMPORTANT! change ver if needed
+ros-jazzy-cyclonedds = { channel = "robostack-jazzy" }
+ros-jazzy-ros2cli = { channel = "robostack-jazzy" }
+ros-jazzy-ros2cli-common-extensions = { channel = "robostack-jazzy" }
+ros2-distro-mutex = { version = ">=0.7", channel = "robostack-jazzy" } # IMPORTANT! change ver if needed
 
 # ros 2 build packages (for ament, cmake, and colcon)
-ros-humble-ament-cmake-auto = { channel = "robostack-humble" }
-ros-humble-ament-cmake-clang-format = { channel = "robostack-humble" }
-ros-humble-ament-cmake = { channel = "robostack-humble" }
-ros-humble-ament-cmake-core = { channel = "robostack-humble" }
-ros-humble-ament-cmake-pytest = { channel = "robostack-humble" }
-ros-humble-ament-lint-auto = { channel = "robostack-humble" }
-ros-humble-ament-pep257 = { channel = "robostack-humble" }
-ros-humble-launch-pytest = { channel = "robostack-humble" }
-ros-humble-launch-testing-ament-cmake = { channel = "robostack-humble" }
-ros-humble-python-cmake-module = { channel = "robostack-humble" }
-ros-humble-rosidl-default-generators = { channel = "robostack-humble" }
-ros-humble-rosidl-default-runtime = { channel = "robostack-humble" }
+ros-jazzy-ament-cmake-auto = { channel = "robostack-jazzy" }
+ros-jazzy-ament-cmake-clang-format = { channel = "robostack-jazzy" }
+ros-jazzy-ament-cmake = { channel = "robostack-jazzy" }
+ros-jazzy-ament-cmake-core = { channel = "robostack-jazzy" }
+ros-jazzy-ament-cmake-pytest = { channel = "robostack-jazzy" }
+ros-jazzy-ament-lint-auto = { channel = "robostack-jazzy" }
+ros-jazzy-ament-pep257 = { channel = "robostack-jazzy" }
+ros-jazzy-launch-pytest = { channel = "robostack-jazzy" }
+ros-jazzy-launch-testing-ament-cmake = { channel = "robostack-jazzy" }
+ros-jazzy-python-cmake-module = { channel = "robostack-jazzy" }
+ros-jazzy-rosidl-default-generators = { channel = "robostack-jazzy" }
+ros-jazzy-rosidl-default-runtime = { channel = "robostack-jazzy" }
 
 # ros 2 message pkgs
-ros-humble-action-msgs = { channel = "robostack-humble" }
-ros-humble-actionlib-msgs = { channel = "robostack-humble" }
-ros-humble-diagnostic-msgs = { channel = "robostack-humble" }
-ros-humble-geographic-msgs = { channel = "robostack-humble" }
-ros-humble-geometry-msgs = { channel = "robostack-humble" }
-ros-humble-nav2-msgs = { channel = "robostack-humble" }
-ros-humble-rcl-interfaces = { channel = "robostack-humble" }
-ros-humble-ros-gz-interfaces = { channel = "robostack-humble" }
-ros-humble-sensor-msgs = { channel = "robostack-humble" }
-ros-humble-shape-msgs = { channel = "robostack-humble" }
-ros-humble-std-msgs = { channel = "robostack-humble" }
-ros-humble-std-srvs = { channel = "robostack-humble" }
-ros-humble-stereo-msgs = { channel = "robostack-humble" }
-ros-humble-trajectory-msgs = { channel = "robostack-humble" }
+ros-jazzy-action-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-actionlib-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-diagnostic-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-geographic-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-geometry-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-nav2-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-rcl-interfaces = { channel = "robostack-jazzy" }
+ros-jazzy-ros-gz-interfaces = { channel = "robostack-jazzy" }
+ros-jazzy-sensor-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-shape-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-std-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-std-srvs = { channel = "robostack-jazzy" }
+ros-jazzy-stereo-msgs = { channel = "robostack-jazzy" }
+ros-jazzy-trajectory-msgs = { channel = "robostack-jazzy" }
 
 # ros 2 launch file pkgs
-ros-humble-launch = { channel = "robostack-humble" }
-ros-humble-launch-ros = { channel = "robostack-humble" }
-ros-humble-launch-testing = { channel = "robostack-humble" }
+ros-jazzy-launch = { channel = "robostack-jazzy" }
+ros-jazzy-launch-ros = { channel = "robostack-jazzy" }
+ros-jazzy-launch-testing = { channel = "robostack-jazzy" }
 
 # ros 2 important runtime pkgs (like Nav2)
-ros-humble-controller-manager = { channel = "robostack-humble" }
-ros-humble-cv-bridge = { channel = "robostack-humble" }
-ros-humble-depthimage-to-laserscan = { channel = "robostack-humble" }
-ros-humble-geodesy = { channel = "robostack-humble" }
-ros-humble-image-proc = { channel = "robostack-humble" }
-ros-humble-joint-state-broadcaster = { channel = "robostack-humble" }
-ros-humble-joint-state-publisher = { channel = "robostack-humble" }
-ros-humble-nav2-behavior-tree = { channel = "robostack-humble" }
-ros-humble-nav2-bringup = { version = "==1.1.18", channel = "robostack-humble" }
-ros-humble-nav2-common = { channel = "robostack-humble" }
-ros-humble-nav2-simple-commander = { channel = "robostack-humble" }
-ros-humble-pointcloud-to-laserscan = { channel = "robostack-humble" }
-ros-humble-rcl = { channel = "robostack-humble" }
-ros-humble-rclcpp = { channel = "robostack-humble" }
-ros-humble-rclpy = { channel = "robostack-humble" }
-ros-humble-robot-localization = { channel = "robostack-humble" }
-ros-humble-robot-state-publisher = { channel = "robostack-humble" }
-ros-humble-ros2-control = { channel = "robostack-humble" }
-ros-humble-ros2-controllers = { channel = "robostack-humble" }
-ros-humble-stereo-image-proc = { channel = "robostack-humble" }
-ros-humble-tf-transformations = { channel = "robostack-humble" }
-ros-humble-tf2 = { channel = "robostack-humble" }
-ros-humble-tf2-ros = { channel = "robostack-humble" }
-ros-humble-vision-opencv = { channel = "robostack-humble" }
+ros-jazzy-controller-manager = { channel = "robostack-jazzy" }
+ros-jazzy-cv-bridge = { channel = "robostack-jazzy" }
+ros-jazzy-depthimage-to-laserscan = { channel = "robostack-jazzy" }
+geographiclib = { channel = "conda-forge" } # replaces `ros-humble-geodesy` in `jazzy`+
+ros-jazzy-image-proc = { channel = "robostack-jazzy" }
+ros-jazzy-joint-state-broadcaster = { channel = "robostack-jazzy" }
+ros-jazzy-joint-state-publisher = { channel = "robostack-jazzy" }
+ros-jazzy-nav2-behavior-tree = { channel = "robostack-jazzy" }
+ros-jazzy-nav2-bringup = { channel = "robostack-jazzy" }
+ros-jazzy-nav2-common = { channel = "robostack-jazzy" }
+ros-jazzy-nav2-simple-commander = { channel = "robostack-jazzy" }
+ros-jazzy-pointcloud-to-laserscan = { channel = "robostack-jazzy" }
+ros-jazzy-rcl = { channel = "robostack-jazzy" }
+ros-jazzy-rclcpp = { channel = "robostack-jazzy" }
+ros-jazzy-rclpy = { channel = "robostack-jazzy" }
+ros-jazzy-robot-localization = { channel = "robostack-jazzy" }
+ros-jazzy-robot-state-publisher = { channel = "robostack-jazzy" }
+ros-jazzy-ros2-control = { channel = "robostack-jazzy" }
+ros-jazzy-ros2-controllers = { channel = "robostack-jazzy" }
+ros-jazzy-stereo-image-proc = { channel = "robostack-jazzy" }
+ros-jazzy-tf-transformations = { channel = "robostack-jazzy" }
+ros-jazzy-tf2 = { channel = "robostack-jazzy" }
+ros-jazzy-tf2-ros = { channel = "robostack-jazzy" }
+ros-jazzy-vision-opencv = { channel = "robostack-jazzy" }
 
 # ros 2 debugging pkgs
-ros-humble-tf2-tools = { channel = "robostack-humble" }
-ros-humble-topic-tools = { channel = "robostack-humble" }
+ros-jazzy-tf2-tools = { channel = "robostack-jazzy" }
+ros-jazzy-topic-tools = { channel = "robostack-jazzy" }
 
 # ros 2 visualization/simulation pkgs
+ros-jazzy-gz-ros2-control = { channel = "robostack-jazzy" }
+ros-jazzy-ros-gz = { channel = "robostack-jazzy" }
+ros-jazzy-ros-gz-bridge = { channel = "robostack-jazzy" }
+ros-jazzy-ros-gz-image = { channel = "robostack-jazzy" }
+ros-jazzy-ros-gz-sim = { channel = "robostack-jazzy" }
+ros-jazzy-rqt-console = { channel = "robostack-jazzy" }
+ros-jazzy-rqt-graph = { channel = "robostack-jazzy" }
+ros-jazzy-rqt-tf-tree = { channel = "robostack-jazzy" }
+ros-jazzy-rviz2 = { channel = "robostack-jazzy" }
+ros-jazzy-rviz-default-plugins = { channel = "robostack-jazzy" }
+ros-jazzy-xacro = { channel = "robostack-jazzy" }
+
+# note: we can only depend on `video4linux`... on Linux. lol
 #
+# TODO: if we need this, put it back:
 #
 #
-#
-#
-#
-#
-#
-# TODO!!!!!!!!!!!!!!!!!! fix the below package by using
-# `ros-humble-gz-ros2-control` instead!
-#
-# it's... uh. only available on Jazzy and Kilted, meaning we can't actually
-# install it for Humble through `conda`. `ros-humble-gazebo-ros2-control` is
-# actually for Gazebo Classic, which is now old, unsupported, and most
-# importantly, isn't what our simulation is set up for (we use Gazebo... not
-# Gazebo Classic).
-#
-# I think the only two fixes are to either:
-#
-# 1. force all new Rover members to compile the package for 30 min
-#      - I refuse to do this lol
-# 2. update to Kilted (hell yeah)
-#
-# in case you can't tell, I'd prefer to upgrade to Kilted! but that's outta the
-# scope of this PR, and would require many changes unrelated to Pixi.
-#
-# for now, note that the simulator won't work unless you have the real (new)
-# package installed via your system package manager :(
-#
-# ros-humble-gazebo-ros2-control = { channel = "robostack-humble" }
-ros-humble-ros-gz = { channel = "robostack-humble" }
-ros-humble-ros-gz-bridge = { channel = "robostack-humble" }
-ros-humble-ros-gz-image = { channel = "robostack-humble" }
-ros-humble-ros-gz-sim = { channel = "robostack-humble" }
-ros-humble-rqt-console = { channel = "robostack-humble" }
-ros-humble-rqt-controller-manager = { channel = "robostack-humble" }
-ros-humble-rqt-graph = { channel = "robostack-humble" }
-ros-humble-rqt-tf-tree = { channel = "robostack-humble" }
-ros-humble-rviz2 = { channel = "robostack-humble" }
-ros-humble-rviz-default-plugins = { channel = "robostack-humble" }
-ros-humble-xacro = { channel = "robostack-humble" }
-
-# note: we can only depend on `video4linux`... on Linux. lol
-[target.linux.dependencies]
-ros-humble-v4l2-camera = { channel = "robostack-humble" }
+# [target.linux.dependencies]
+# ros-jazzy-v4l2-camera = { channel = "robostack-jazzy" }
 
 [pypi-dependencies]
 colcon-ros-cargo = ">=0.2.0"
+filelock = ">=3.20.0"
 geopy = ">=2.4.1"
 loguru = ">=0.7.3"
 opencv-contrib-python = ">=4.11.0.86"

src/custom_interfaces/bindings/builtin_interfaces/Cargo.toml

@@ -6,4 +6,4 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-safe_drive = { version = "0.4.3", default-features = false, features = ["humble"] }
+safe_drive = { version = "0.4.3", default-features = false, features = ["jazzy"] }

src/custom_interfaces/bindings/builtin_interfaces/cksum

@@ -1,3 +1,3 @@
 0.2.6
 Version("0.4.3")
-5DdPufd6t1CqEwE58UfyY3doZ+7Q6m7aLG6KIa5U4omVihNXuNGM+7VHCcDdFe6PhoFMHNFxd25cazWnAj1ZlQ==
+to1jJGCtqj+ne4oU3FF+C9dhbGJJQ/5YszBQIrrnCSQHnaz+R1+mAW6nz4B6zqsmSYsH1qfk7+PpUKw3FlDlKQ==

src/custom_interfaces/bindings/custom_interfaces/Cargo.toml

@@ -6,7 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-safe_drive = { version = "0.4.3", default-features = false, features = ["humble"] }
+safe_drive = { version = "0.4.3", default-features = false, features = ["jazzy"] }
 builtin_interfaces = { path = "../builtin_interfaces" }
 geographic_msgs = { path = "../geographic_msgs" }
 geometry_msgs = { path = "../geometry_msgs" }

src/custom_interfaces/bindings/geographic_msgs/Cargo.toml

@@ -6,7 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-safe_drive = { version = "0.4.3", default-features = false, features = ["humble"] }
+safe_drive = { version = "0.4.3", default-features = false, features = ["jazzy"] }
 geometry_msgs = { path = "../geometry_msgs" }
 std_msgs = { path = "../std_msgs" }
 unique_identifier_msgs = { path = "../unique_identifier_msgs" }

src/custom_interfaces/bindings/geometry_msgs/Cargo.toml

@@ -6,5 +6,5 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-safe_drive = { version = "0.4.3", default-features = false, features = ["humble"] }
+safe_drive = { version = "0.4.3", default-features = false, features = ["jazzy"] }
 std_msgs = { path = "../std_msgs" }

src/custom_interfaces/bindings/std_msgs/Cargo.toml

@@ -6,5 +6,5 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-safe_drive = { version = "0.4.3", default-features = false, features = ["humble"] }
+safe_drive = { version = "0.4.3", default-features = false, features = ["jazzy"] }
 builtin_interfaces = { path = "../builtin_interfaces" }

src/custom_interfaces/bindings/std_msgs/cksum

@@ -1,3 +1,3 @@
 0.2.6
 Version("0.4.3")
-f1kCAFmSNJSPJKbKRitcey+u1ZwQAFiqgIWAj3c0HkKC8codsfgCFUALHuzN/7yJBk2Cg73fSnQrUBauJCOgSQ==
+X31yRWb+BbrtwvSlDPxUZgJzP+r/sHlu+vbNXIXWJF7mqDXZytAN4FZiioVA5j2ypF+6Gvp/LbMJSd0bpwDmhg==

src/custom_interfaces/bindings/unique_identifier_msgs/Cargo.toml

@@ -6,4 +6,4 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-safe_drive = { version = "0.4.3", default-features = false, features = ["humble"] }
+safe_drive = { version = "0.4.3", default-features = false, features = ["jazzy"] }

src/lights/Cargo.toml

@@ -22,7 +22,7 @@ tokio = { version = "1.43.0", features = [
 ] }
 tracing = "0.1.41"
 tracing-subscriber = { version = "0.3.19", features = ["env-filter"] }
-safe_drive = { version = "0.4.3", features = ["humble"] }
+safe_drive = { version = "0.4.3", features = ["jazzy"] }
 
 
 [dependencies.custom_interfaces]

src/maps_backend/Cargo.toml

@@ -8,7 +8,7 @@ name = "maps_node"
 path = "src/main.rs"
 
 [dependencies]
-safe_drive = { version = "0.4.3", features = ["humble"] }
+safe_drive = { version = "0.4.3", features = ["jazzy"] }
 tokio = { version = "1.42.0", features = [
     "macros",
     "net",

src/sensors/Cargo.toml

@@ -23,7 +23,7 @@ tokio = { version = "1.42.0", features = [
 ] }
 tracing = "0.1.41"
 tracing-subscriber = { version = "0.3.19", features = ["env-filter"] }
-safe_drive = { version = "0.4.3", features = ["humble"] }
+safe_drive = { version = "0.4.3", features = ["jazzy"] }
 async-hid = { version = "0.4.0", features = [
     "tokio",
 ], default-features = false }

src/simulator/launch/gazebo_only.launch.py

@@ -116,7 +116,7 @@ def generate_launch_description() -> LaunchDescription:
                 PythonExpression([run_headless, " and ' -s' or ''"]),
             ],
             "on_exit_shutdown": "True",
-            "gz_version": "6",
+            "gz_version": "8",
         }.items(),
     )
 

src/simulator/launch/sim.launch.py

@@ -1,15 +1,15 @@
+import os
+
 from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import (
-    PathJoinSubstitution,
-)
 from launch_ros.actions import Node, SetParameter
 from navigator_node.types import (
     NavigationMode,
 )
 
+from launch import LaunchDescription
+
 
 def generate_launch_description():
     pkg_simulator: str = get_package_share_directory("simulator")
@@ -20,31 +20,15 @@ def generate_launch_description():
     # start the rover launch script
     rover_launch_file: IncludeLaunchDescription = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            [
-                PathJoinSubstitution(
-                    [
-                        pkg_drive_launcher,
-                        "launch",
-                        "rover.launch.py",
-                    ]
-                )
-            ],
+            os.path.join(pkg_drive_launcher, "launch", "rover.launch.py")
         ),
         launch_arguments=[("use_sim_time", use_sim_time)],
     )
 
     # launch all the gazebo stuff
     gazebo_launch_file: IncludeLaunchDescription = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            [
-                PathJoinSubstitution(
-                    [
-                        pkg_simulator,
-                        "launch",
-                        "gazebo_only.launch.py",
-                    ]
-                )
-            ],
+            os.path.join(pkg_simulator, "launch", "gazebo_only.launch.py")
         ),
         launch_arguments=[("use_sim_time", use_sim_time)],
     )