Description

This is migration from Humble to Jazzy. This PR should be merged to a new base branch called jazzy-devel.

• Closes Add ROS 2 Jazzy support #18

Motivation and context

• Request in Add ROS 2 Jazzy support #18

How has this been tested?

• Manually, both with colcon test and on real hardware in custom Jazzy toolbx container:

ARG ROS_DISTRO=jazzy

FROM docker.io/osrf/ros:${ROS_DISTRO}-desktop
ARG ROS_DISTRO

RUN apt update  \
    && apt install -y \
        clang \
        zsh \
        ros-dev-tools \
    # Size optimalization
    && export SUDO_FORCE_REMOVE=yes \
    && apt autoremove -y \
    && apt clean \
    && rm -rf /var/lib/apt/lists/* \
    && userdel -r ubuntu

CMD ["/bin/bash"]

podman build . -t ceai/aegis_dev:jazzy
toolbox create --image localhost/ceai/aegis_dev:jazzy
toolbox enter aegis_dev-jazzy 
# in container
sudo apt update
rosdep install --from-paths src -y -i
source /opt/ros/jazzy/setup.zsh 
colcon build --symlink-install
source ./install/local_setup.zsh
colcon test --event-handlers console_direct+ 

Checklist

• All TODOs in the code have been resolved or linked to a proper issue.
• Code has been (auto)formatted.
• Documentation (e.g., README, CHANGELOG, Wiki) has been updated.
• All automated checks have passed.

Clickup task: 8699zuex5