Migrate to jazzy. (#200)

- Switch to Jazzy base image
- Install Franka Jazzy fork.
- Update Panther to 2.3.1 (jazzy)
- Stop building Gazebo and Moveit from source, since Jazzy brings them to newer versions already.
- Move all packages to core packages, keep empty dev_packages for future.
- Remove old install scripts
- Update Xacros.
- Update IGN -> GZ for new Gazebo.

---------

Signed-off-by: Jelmer de Wolde <[email protected]>

Author: Jelmerdw

.devcontainer/.env

@@ -2,13 +2,17 @@
 # 
 # SPDX-License-Identifier: Apache-2.0
 
-# Define IGN_IP to use Gazebo with firewall enabled:
-IGN_IP=127.0.0.1
+# Define GZ_IP to use Gazebo with firewall enabled:
+GZ_IP=127.0.0.1
+
+# Define GZ_SIM_RESOURCE_PATH to enable Gazebo to find resources:
+GZ_SIM_RESOURCE_PATH="/opt/ros/jazzy/share:/home/rcdt/franka_ws/src"
 
 # Set QT_API to pyside6 for PyFlow to work:
 QT_API=pyside6
 
+# Cache the pre_commit:
 PRE_COMMIT_HOME=/home/rcdt/rcdt_robotics/.cache/pre-commit
 
 # Set the RMW implementation to Cyclone DDS for communication with the Panther:
-RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

.devcontainer/docker-compose.yml

@@ -13,8 +13,6 @@ services:
     tty: true
     env_file:
       - .env
-    group_add:
-      - "106"
     volumes:
       - "/tmp/.X11-unix:/tmp/.X11-unix"
       - "${HOME}/.vscode-server:/home/rcdt/.vscode-server"

.github/workflows/reusable-workspace.yml

@@ -43,4 +43,6 @@ jobs:
           cd ros2_ws
           source install/setup.bash
           echo "GZ_SIM_RESOURCE_PATH: ${GZ_SIM_RESOURCE_PATH}"
-          uv run pytest src/
+          uv run pytest --ignore=src/rcdt_franka/rcdt_franka/test/integration/test_franka_realsense.py src/
+
+# Ignore src/rcdt_franka/rcdt_franka/test/integration/test_franka_realsense.py due to gpu limitation in CICD.

dockerfiles/general/pre_install.dockerfile

@@ -3,7 +3,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 #Pull the base image:
-FROM osrf/ros:humble-desktop
+FROM osrf/ros:jazzy-desktop
 ARG COLCON_BUILD_SEQUENTIAL
 ENV UNAME=rcdt
 ENV UID=1000
@@ -21,4 +21,4 @@ RUN apt update
 # Create bashrc file:
 RUN echo "if test -f ~/.personal.bashrc; then\nsource ~/.personal.bashrc\nfi" >> /home/$UNAME/.bashrc
 RUN echo "if test -f ~/.env; then\nset -a && source ~/.env && set +a\nfi" >> /home/$UNAME/.bashrc
-RUN echo "source /opt/ros/humble/setup.bash" >> /home/$UNAME/.bashrc
+RUN echo "source /opt/ros/jazzy/setup.bash" >> /home/$UNAME/.bashrc

dockerfiles/install_scripts/core_packages.sh

@@ -5,19 +5,37 @@
 # SPDX-License-Identifier: Apache-2.0
 
 set -e
-
+source /home/$UNAME/.bashrc
 apt update
+
+curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
 apt install -y \
-    ros-humble-ament-cmake-clang-format \
-    ros-humble-ros2-controllers \
-    ros-humble-ros2-control \
-    ros-humble-ros2-control-test-assets \
-    ros-humble-controller-manager \
-    ros-humble-control-msgs \
-    ros-humble-control-toolbox \
-    ros-humble-xacro \
-    ros-humble-rqt-tf-tree \
-    ros-humble-rmw-cyclonedds-cpp \
+    flake8 \
+    git-lfs \
     htop \
-    python3-pip \
-    git-lfs 
+    nano \
+    python3-pip
+
+apt install -y \
+    ros-$ROS_DISTRO-launch-pytest \
+    ros-$ROS_DISTRO-moveit \
+    ros-$ROS_DISTRO-moveit-servo \
+    ros-$ROS_DISTRO-moveit-visual-tools \
+    ros-$ROS_DISTRO-navigation2 \
+    ros-$ROS_DISTRO-nav2-bringup \
+    ros-$ROS_DISTRO-plotjuggler-ros \
+    ros-$ROS_DISTRO-realsense2-camera \
+    ros-$ROS_DISTRO-realsense2-description \
+    ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+    ros-$ROS_DISTRO-ros-gz \
+    ros-$ROS_DISTRO-ros2-controllers \
+    ros-$ROS_DISTRO-slam-toolbox \
+    ros-$ROS_DISTRO-velodyne-description
+
+pip install uv --break-system-packages
+
+echo "export PYTHONPATH=\"/home/$UNAME/rcdt_robotics/.venv/lib/python3.12/site-packages:\$PYTHONPATH\"" \
+  >> /home/$UNAME/.bashrc
+
+echo "export PATH=\"/home/$UNAME/rcdt_robotics/.venv/bin:\$PATH\"" \
+  >> /home/$UNAME/.bashrc

dockerfiles/install_scripts/dev_packages.sh

@@ -5,19 +5,6 @@
 # SPDX-License-Identifier: Apache-2.0
 
 set -e
-
-sudo apt update
-sudo apt install -y \
-    flake8 \
-    ros-humble-navigation2 \
-    ros-humble-nav2-bringup \
-    ros-humble-slam-toolbox 
-
-pip install uv 
-
-echo "export PYTHONPATH=\"/home/$UNAME/rcdt_robotics/.venv/lib/python3.10/site-packages:\$PYTHONPATH\"" \
-  >> /home/$UNAME/.bashrc
-
-echo "export PATH=\"/home/$UNAME/rcdt_robotics/.venv/bin:\$PATH\"" \
-  >> /home/$UNAME/.bashrc
+source /home/$UNAME/.bashrc
+apt update
 

dockerfiles/install_scripts/franka_lock_unlock.sh

@@ -4,13 +4,16 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+set -e
+source /home/$UNAME/.bashrc
+apt update
+
 mkdir -p /home/$UNAME/franka_lock_unlock/src
 cd /home/$UNAME/franka_lock_unlock
 git clone https://github.com/alliander-opensource/franka_lock_unlock.git
 
-rosdep update
-rosdep install --from-paths src --rosdistro humble -y -i
+rosdep update --rosdistro $ROS_DISTRO
+rosdep install --from-paths src -y -i
 
-source /home/$UNAME/.bashrc
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 echo "source /home/$UNAME/franka_lock_unlock/install/setup.bash" >>/home/$UNAME/.bashrc

dockerfiles/install_scripts/franka_ros2.sh

@@ -5,14 +5,20 @@
 # SPDX-License-Identifier: Apache-2.0
 
 set -e
+source /home/$UNAME/.bashrc
+apt update
 
-#Install ros2 franka: https://github.com/frankaemika/franka_ros2/tree/v1.0.2
+#Install ros2 franka: https://github.com/frankaemika/franka_ros2
 apt update
-source /home/$UNAME/.bashrc
 mkdir -p /home/$UNAME/franka_ws/src
 cd /home/$UNAME/franka_ws
-git clone -b v1.0.2 https://github.com/frankaemika/franka_ros2.git src
-vcs import src < src/franka.repos --recursive --skip-existing
-rosdep install --from-paths src --ignore-src --rosdistro humble -y
-colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-ignore franka_ign_ros2_control
+
+# Clone a fork with jazzy support, since Franka offers no support yet:
+git clone -b jazzy https://github.com/WHongLin/franka_ros2.git src/franka_ros2
+vcs import src --recursive --skip-existing <src/franka_ros2/franka.repos
+
+rosdep update --rosdistro $ROS_DISTRO
+rosdep install --from-paths src -y -i
+
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 echo "source /home/$UNAME/franka_ws/install/setup.bash" >>/home/$UNAME/.bashrc

dockerfiles/install_scripts/gazebo.sh

@@ -5,23 +5,19 @@
 # SPDX-License-Identifier: Apache-2.0
 
 set -e
+source /home/$UNAME/.bashrc
 apt update
 
 #Install husarion_ugv_ros: https://github.com/husarion/husarion_ugv_ros
 cd /home/$UNAME
 mkdir husarion_ws
 cd /home/$UNAME/husarion_ws
-git clone -b 2.2.2 https://github.com/husarion/husarion_ugv_ros.git src/husarion_ugv_ros
-
+git clone -b 2.3.1 https://github.com/husarion/husarion_ugv_ros.git src/husarion_ugv_ros
 export HUSARION_ROS_BUILD_TYPE=simulation
-
 vcs import src < src/husarion_ugv_ros/husarion_ugv/${HUSARION_ROS_BUILD_TYPE}_deps.repos
 
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install --from-paths src -y -i
 
-source /home/$UNAME/.bashrc
-
 colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
-
 echo "source /home/$UNAME/husarion_ws/install/setup.bash" >>/home/$UNAME/.bashrc