[WIP][Robotics][RVC] ROS2 Jazzy Jalisco support for Stationary Robot Vision & Control

[pperycz]

Description

Introduce ROS2 Jazzy Jalisco support for Stationary Robot Vision & Control:

• updated all package debian folders to use Jazzy (control, rules, changelog)
• using Ubuntu 22.04 as base image, python 12
• refactored RVC code to use Moveit2 API for Jazzy
• • small API changes (.h -> .hpp files, libraries that did not exist, using std apis vs from Moveit2)
• • ee_frame, base_frame are no longer served from ServoParams. Instead used https://github.com/moveit/moveit2/blob/main/moveit_ros/moveit_servo/src/utils/common.cpp#L57, https://github.com/moveit/moveit2/blob/main/moveit_ros/moveit_servo/src/utils/common.cpp#L72 to fetch the same data from the robot configuration
• replacing ur_bringup with ur_robot_driver as ur_bringup doesn't exist for Jazzy

Any Newly Introduced Dependencies

...

How Has This Been Tested?

• ran unit tests locallvia with colcon test for all packaged. Fuzz test/unit tests run successfully for rvc_rotated_object_detection, in the other packages we either have no tests or the target is failing due to linting/code-style

Summary: 25 packages finished [1min 21s]
Starting >>> rvc_rotated_object_detection
============================= test session starts ==============================
platform linux -- Python 3.12.3, pytest-7.4.4, pluggy-1.4.0
cachedir: /rvc/build/rvc_rotated_object_detection/.pytest_cache
rootdir: /rvc/src/rvc_vision/rvc_rotated_object_detection
plugins: ament-flake8-0.17.3, launch-testing-3.4.7, ament-pep257-0.17.3, launch-testing-ros-0.26.9, ament-lint-0.17.3, ament-xmllint-0.17.3, ament-copyright-0.17.3, ament-black-0.2.6, ament-mypy-0.17.3, colcon-core-0.20.1, typeguard-4.1.5
collected 2 items



test/test_detector.py ..                                                 [100%]

---- generated xml file: /rvc/build/rvc_rotated_object_detection/pytest.xml ----
============================== 2 passed in 2.59s ===============================

ran ./docker_build_rvc_img.sh and ./docker_build_rvc_img.sh successfully

• ran the following make target:

docker run --rm -v $(PWD)/src:/rvc/src $(DEV_IMAGE):$(DEV_TAG) bash -c ' \
		set -e && \
		sudo apt-get update && sudo apt-get install -y --no-install-recommends \
		ros-jazzy-hardware-interface \
		ros-jazzy-ur-robot-driver \
		ros-jazzy-ur-calibration \
		&& sudo rm -rf /var/lib/apt/lists/* \
		&& cd /rvc \
		&& . /opt/ros/$${ROS_DISTRO}/setup.sh \
		&& colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release'

Checklist:

• I agree to use the APACHE-2.0 license for my code changes.
• I have not introduced any 3rd party components incompatible with APACHE-2.0.
• I have not included any company confidential information, trade secret, password or security token.
• I have performed a self-review of my code.

[Copilot]

Pull Request Overview

This PR migrates the Robot Vision & Control (RVC) system from ROS2 Humble to ROS2 Jazzy Jalisco, updating the base OS from Ubuntu 22.04 to Ubuntu 24.04 (Noble) with Python 3.12. The migration includes comprehensive updates to Debian packaging configurations, refactoring C++ code to use Jazzy-compatible MoveIt2 APIs (.h to .hpp header transitions), and adapting to breaking API changes in the servo control and hardware interface libraries.

Key changes:

• Migration from ROS2 Humble to Jazzy across all packages
• Updated MoveIt2 Servo API usage with new parameter listener pattern and command type configuration
• Header file updates from .h to .hpp extensions for modern C++ standards
• Replaced deprecated APIs with standard C++ alternatives

Reviewed Changes

Copilot reviewed 86 out of 86 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
Debian control/rules/changelog files	Updated all package metadata from humble to jazzy, jammy to noble distribution
.devcontainer/Dockerfile	Updated base image to Ubuntu 24.04, ROS jazzy packages, Python 3.12, and user UID
moveit2_servo_motion_controller	Refactored to use new Servo ParamListener API and retrieve frames from IK solver
robotiq_driver	Removed deprecated get_name() override and visibility_control.h include
rvc_pose_detector	Updated tf2_sensor_msgs header to .hpp extension
rvc_object_detection_engine	Added OpenVINO package dependency and updated cv_bridge header
trac_ik plugin headers	Updated MoveIt headers from .h to .hpp extensions
rvc_panel_rviz2_plugin	Replaced rmw_qos_profile_services_default with rclcpp::ServicesQoS()
rotated_object_detection_parameters.py	Auto-generated parameter code with new helper methods and renamed loop variables

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[dariorusso1972]

if super fails why force to true?

[madalazar]

I remember seeing this is various examples and for some reason at the time it seemed like a good thing. But you're absolutely right it completely ignores the previous init. Will revert

[dariorusso1972]

does this still works in jazzy? i have a reference of a planning_scene_monitor on the stack in the hpp, and here " planning_scene_monitor = moveit_servo::createPlanningSceneMonitor(node, servo_param_listener->get_params());"

[madalazar]

I tried to look into this a bit more and I'm inclined to say it should work. This is the constructor I expect us to be using: https://github.com/moveit/moveit2/blob/ca2bb1ba4581b7213d68094458f2649de17d237e/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp#L78C1-L82C2.
From what I can see createPlanningSceneMonitor and the code will make use of the same c-tor (https://github.com/moveit/moveit2/blob/ca2bb1ba4581b7213d68094458f2649de17d237e/moveit_ros/moveit_servo/src/utils/common.cpp#L483-L490).

The difference I can see is with createPlanningSceneMonitor we're adding some extra set-up to the planning_scene_monitor that we're not doing in code.

[madalazar]

I'm also now looking through an older change of yours where you're using createPlanningSceneMonitor. Is this what we should be using?