Initial Jazzy implementation (#15)

* Initial migration to Jazzy. Not all packages exist as binaries yet

* Add a note about firmware compatibility to the readme

* Add exception handling to the file i/o so the node doesn't just crash if we're missing a file

* Add proper escape characters to title backslashes

* Add improved exception handling to the wifi settings parser

* Update CI

* Properly escape all `\` characters in stylized titles, add translation & link to generator page in comments

* Add copyright & contribution notices, fix up code formatting, import ordering. Disable linting for some specific lines where appropriate

* Add XML namespaces & version to cyclone DDS config

* Omit XML linting (for now); it's consistently timing out and failing

* Class newline

* Add exception handling to the file preview

* Apply formatting to exception text

* Add an option to force the Create3 settings to be reapplied, even if we haven't changed anything else. Always apply the _do_not_use namespace, as we're universally using the republisher now

* Remove superfluous concatenation

* Fix trailing newlines

* Enable testing packages for CI

* Write the value of the enum to the bash file, use a regex to match existing items in the file

* Disable checks on two lines with long format strings

* Add exception handling for install & uninstall

* Add an error prompt to show errors during installation

* Handle KeyErrors separately

* Add newline to end of file

* Fix indentation

* `''.format` -> `f''`

* Update the default system file, print the keys instead of the enums

* Remove uses of `.value` when printing enums, just add a `__str__` function to the relevant classes

.github/ISSUE_TEMPLATE/1-bug.yml

@@ -30,6 +30,7 @@ body:
         - Select One
         - Galactic
         - Humble
+        - Jazzy
     validations:
       required: true
   - type: dropdown
@@ -52,6 +53,7 @@ body:
         - Select One
         - Ubuntu 20.04
         - Ubuntu 22.04
+        - Ubuntu 24.04
         - Other Linux
         - Windows / MAC
     validations:

.github/workflows/ci.yml

@@ -3,11 +3,20 @@ name: turtlebot4_setup_ci
 on: [push, pull_request]
 
 jobs:
-  turtlebot4_humble_ci:
-    name: Humble
-    runs-on: ubuntu-22.04
+  turtlebot4_jazzy_ci:
+    name: Jazzy
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/[email protected]
-      - uses: ros-tooling/setup-ros@v0.3
+      - uses: ros-tooling/setup-ros@v0.7
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: jazzy
+          use-ros2-testing: true
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: jazzy
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          skip-tests: false
+          package-name:
+            turtlebot4_setup

CMakeLists.txt

@@ -16,6 +16,13 @@ install(
   DESTINATION lib/${PROJECT_NAME}
 )
 
+# disable XML linting; it consistently times out
+# TODO (civerachb-cpr) -- figure out why it's timing out and re-enable
+# hypothesis: it's related to the additional XML files in etc/turtlebot4
+list(APPEND AMENT_LINT_AUTO_EXCLUDE
+  ament_cmake_xmllint
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

CONTRIBUTING.md

@@ -0,0 +1,15 @@
+# Contributing to TurtleBot4 Setup
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~

README.md

@@ -4,6 +4,8 @@ Setup scripts and tools for the TurtleBot 4 Raspberry Pi.
 
 Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_setup.html) for more details.
 
+Make sure your Create® 3 is updated to the `I.*.*` firmware; older versions of the firmware are not compatible with ROS 2 Jazzy.
+
 # Create an image manually
 
 Follow these instructions if you wish to create a Turtlebot4 image manually.
@@ -12,14 +14,14 @@ Follow these instructions if you wish to create a Turtlebot4 image manually.
 
 First install the [Raspberry Pi Imager](https://www.raspberrypi.com/software/).
 
-- Insert your SD card into your PC and run the Raspberry Pi Imager. Follow the instructions and install Ubuntu 22.04 Server (64-bit) onto the SD card.
-- Ensure your Raspberry Pi 4 is not powered before inserting the flashed SD card. 
+- Insert your SD card into your PC and run the Raspberry Pi Imager. Follow the instructions and install Ubuntu 24.04 Server (64-bit) onto the SD card.
+- Ensure your Raspberry Pi 4 is not powered before inserting the flashed SD card.
 - You can set up the Raspberry Pi by either connecting it to your network via Ethernet or by using a keyboard and HDMI monitor via a micro HDMI cable.
 
 ### Ethernet Setup
 
 - Connect the Raspberry Pi to your Network with an Ethernet cable.
-- Boot the Raspberry Pi. 
+- Boot the Raspberry Pi.
 - Find the Raspberry Pi's IP using your router's portal.
 - SSH into the Raspberry Pi using the IP address.
 ```bash
@@ -62,7 +64,7 @@ ssh [email protected]
 ## Download and run the setup script
 
 ```
-wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/humble/scripts/turtlebot4_setup.sh | bash
+wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/turtlebot4_setup.sh | bash
 ```
 
-The script will automatically install ROS 2 Humble, TurtleBot 4 packages, and other important apt packages. It will also configure the RPi4 to work in a TurtleBot 4. Once complete, the RPi4 should be rebooted with `sudo reboot`. Then, run `turtlebot4-setup` to configure the robot with the setup tool.
+The script will automatically install ROS 2 Jazzy, TurtleBot 4 packages, and other important apt packages. It will also configure the RPi4 to work in a TurtleBot 4. Once complete, the RPi4 should be rebooted with `sudo reboot`. Then, run `turtlebot4-setup` to configure the robot with the setup tool.

etc/rc.local

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+# Give ourselves some swap to deal with RAM issues
+if [ -f /swapfile ]; then
+  swapon /swapfile
+fi

etc/turtlebot4/cyclonedds_rpi.xml

@@ -1,4 +1,8 @@
-<CycloneDDS>
+<?xml version="1.0" encoding="utf-8"?>
+<CycloneDDS
+    xmlns="https://cdds.io/config"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
     <Domain>
         <General>
             <Interfaces>

etc/turtlebot4/discovery.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
 fastdds discovery -i 0 -p 11811

etc/turtlebot4/fastdds_rpi.xml

@@ -1,5 +1,5 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<dds>
+<?xml version="1.0" encoding="UTF-8"?>
+<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
     <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
         <participant profile_name="turtlebot4_default_profile" is_default_profile="true">
             <rtps/>

etc/turtlebot4/setup.bash

@@ -5,7 +5,7 @@ export ROS_DOMAIN_ID=0
 export ROS_DISCOVERY_SERVER=
 export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 export TURTLEBOT4_DIAGNOSTICS=1
-export WORKSPACE_SETUP=/opt/ros/humble/setup.bash
+export WORKSPACE_SETUP=/opt/ros/jazzy/setup.bash
 export ROS_SUPER_CLIENT=False
 
-source $WORKSPACE_SETUP
+source $WORKSPACE_SETUP

etc/turtlebot4/system

@@ -1,3 +1,4 @@
-MODEL:standard
-VERSION:1.0.0
-ROS:Humble
+MODEL:lite
+VERSION:2.0.0
+ROS:Jazzy
+HOSTNAME:ubuntu

scripts/create_update.sh

@@ -5,7 +5,7 @@
 
 Help()
 {
-   echo "Create 3 update script for robots running H.1.0 or higher"
+   echo "Create 3 update script for robots running I.*.*"
    echo
    echo "usage: bash create_update.sh /path/to/image.swu [-h]"
    echo "options:"

scripts/humble.sh → scripts/jazzy.sh

@@ -1,15 +1,19 @@
 #!/usr/bin/env bash
 sudo apt update && sudo apt install curl gnupg lsb-release -y
+
+# Add ROS sources
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Install the packages
 sudo apt update
 sudo apt install -y \
-ros-humble-ros-base \
+ros-jazzy-ros-base \
 build-essential \
 cmake \
 git \
 wget \
 ros-dev-tools \
 socat \
 network-manager \
-chrony
+chrony

scripts/turtlebot4_setup.sh

@@ -31,23 +31,23 @@ echo "Setting up Turtlebot4";
 
 sudo apt update && sudo apt upgrade
 
-wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/humble/scripts/humble.sh | bash
+wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/jazzy.sh | bash
 
 sudo apt update && sudo apt upgrade
 
-sudo apt install -y ros-humble-ros-base \
-ros-humble-turtlebot4-setup \
-ros-humble-turtlebot4-robot \
-ros-humble-irobot-create-control \
-ros-humble-turtlebot4-navigation \
+sudo apt install -y ros-jazzy-ros-base \
+ros-jazzy-turtlebot4-setup \
+ros-jazzy-turtlebot4-robot \
+ros-jazzy-irobot-create-control \
+ros-jazzy-turtlebot4-navigation \
 ros-dev-tools \
 socat \
 network-manager \
 chrony
 
 sudo rm /etc/netplan/50-cloud-init.yaml
 
-git clone https://github.com/turtlebot/turtlebot4_setup.git -b humble && \
+git clone https://github.com/turtlebot/turtlebot4_setup.git -b jazzy && \
 sudo mv turtlebot4_setup/boot/firmware/* /boot/firmware && rm turtlebot4_setup/ -rf
 
 echo "export ROBOT_SETUP=/etc/turtlebot4/setup.bash" | sudo tee -a ~/.bashrc

turtlebot4_discovery/configure_discovery.sh

@@ -116,7 +116,7 @@ do
   # Prompt the user to offer the ability to correct the last server info or add additional servers
   while [ 1 ]
   do
-    read -p "Re-enter the last server (r), add another server (a), or done (d): " option 
+    read -p "Re-enter the last server (r), add another server (a), or done (d): " option
     if [[ $option =~ ^[r,R].* ]];
     then
       echo "Removing last server entry, re-enter the correct server information"
@@ -173,7 +173,7 @@ sudo mkdir -p /etc/turtlebot4_discovery/
 
 # Create setup.bash file
 setup_file_temp="/tmp/turtlebot4_discovery_setup.bash"
-echo "source /opt/ros/humble/setup.bash" > $setup_file_temp
+echo "source /opt/ros/jazzy/setup.bash" > $setup_file_temp
 echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> $setup_file_temp
 echo "[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False" >> $setup_file_temp