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

robotics-ai-suite/robot-vision-control/.devcontainer/Dockerfile

@@ -1,7 +1,7 @@
 ###########################################
 # Base image
 ###########################################
-FROM ubuntu:22.04 AS rvc-humble-base
+FROM ubuntu:24.04 AS rvc-jazzy-base
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -40,57 +40,57 @@ RUN sudo add-apt-repository universe \
   && 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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
   && apt-get update && apt-get install -y --no-install-recommends \
-  ros-humble-ros-base \
+  ros-jazzy-ros-base \
   python3-argcomplete \
   && rm -rf /var/lib/apt/lists/*
 
 RUN bash -c 'wget -O- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor | tee /usr/share/keyrings/intel-repo-keyring.gpg > /dev/null' \
   && bash -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/intel-repo-keyring.gpg] https://apt.repos.intel.com/oneapi all main" | tee /etc/apt/sources.list.d/oneAPI.list' \
   && bash -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/intel-repo-keyring.gpg] https://apt.repos.intel.com/openvino/2024 ubuntu22 main" | tee /etc/apt/sources.list.d/intel-openvino-2024.list' \
   && apt-get update && apt-get install -y --no-install-recommends \
-  ros-humble-controller-manager \
-  ros-humble-control-toolbox \
-  ros-humble-xacro \
-  ros-humble-librealsense2 \
-  ros-humble-realsense2-camera \
-  ros-humble-realsense2-description \
-  ros-humble-pcl-conversions \
-  ros-humble-diagnostic-updater \
-  ros-humble-joint-state-broadcaster \
-  ros-humble-joint-trajectory-controller \
-  ros-humble-joint-state-publisher \
-  ros-humble-forward-command-controller \
-  ros-humble-moveit-ros-planning \
-  ros-humble-moveit-ros-planning-interface \
-  ros-humble-moveit-ros-visualization \
-  ros-humble-moveit-servo \
-  ros-humble-velocity-controllers \
-  ros-humble-position-controllers \
-  ros-humble-forward-command-controller \
-  ros-humble-moveit-ros-visualization \
-  ros-humble-compressed-depth-image-transport \
-  ros-humble-compressed-image-transport \
-  ros-humble-image-transport-plugins \
+  ros-jazzy-controller-manager \
+  ros-jazzy-control-toolbox \
+  ros-jazzy-xacro \
+  ros-jazzy-librealsense2 \
+  ros-jazzy-realsense2-camera \
+  ros-jazzy-realsense2-description \
+  ros-jazzy-pcl-conversions \
+  ros-jazzy-diagnostic-updater \
+  ros-jazzy-joint-state-broadcaster \
+  ros-jazzy-joint-trajectory-controller \
+  ros-jazzy-joint-state-publisher \
+  ros-jazzy-forward-command-controller \
+  ros-jazzy-moveit-ros-planning \
+  ros-jazzy-moveit-ros-planning-interface \
+  ros-jazzy-moveit-ros-visualization \
+  ros-jazzy-moveit-servo \
+  ros-jazzy-velocity-controllers \
+  ros-jazzy-position-controllers \
+  ros-jazzy-forward-command-controller \
+  ros-jazzy-moveit-ros-visualization \
+  ros-jazzy-compressed-depth-image-transport \
+  ros-jazzy-compressed-image-transport \
+  ros-jazzy-image-transport-plugins \
   openvino-libraries-dev \
   nlohmann-json3-dev \
   libnlopt-cxx-dev \
   && rm -rf /var/lib/apt/lists/*
 
 
-ENV ROS_DISTRO=humble
-ENV AMENT_PREFIX_PATH=/opt/ros/humble
-ENV COLCON_PREFIX_PATH=/opt/ros/humble
-ENV LD_LIBRARY_PATH=/opt/ros/humble/lib
-ENV PATH=/opt/ros/humble/bin:$PATH
-ENV PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages
+ENV ROS_DISTRO=jazzy
+ENV AMENT_PREFIX_PATH=/opt/ros/jazzy
+ENV COLCON_PREFIX_PATH=/opt/ros/jazzy
+ENV LD_LIBRARY_PATH=/opt/ros/jazzy/lib
+ENV PATH=/opt/ros/jazzy/bin:$PATH
+ENV PYTHONPATH=/opt/ros/jazzy/lib/python3.12/site-packages
 ENV ROS_PYTHON_VERSION=3
 ENV ROS_VERSION=2
 ENV DEBIAN_FRONTEND=
 
 ###########################################
 #  Development image
 ###########################################
-FROM rvc-humble-base AS rvc-humble-dev
+FROM rvc-jazzy-base AS rvc-jazzy-dev
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -103,14 +103,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
   python3-argcomplete \
   python3-pip \
   ros-dev-tools \
-  ros-humble-ament-* \
+  ros-jazzy-ament-* \
   vim \
   && rm -rf /var/lib/apt/lists/*
 
 RUN rosdep init || echo "rosdep already initialized"
 
 ARG USERNAME=ros
-ARG USER_UID=1000
+# user 1000 already exists so creating one user that doesn't conflict
+# especially since we're adding sudo support to it
+ARG USER_UID=10001
 ARG USER_GID=$USER_UID
 
 # Create a non-root user

robotics-ai-suite/robot-vision-control/Dockerfile.exec

@@ -3,12 +3,12 @@
 INCLUDE+ .devcontainer/Dockerfile
 
 
-FROM rvc-humble-dev AS rvc-humble-exec
+FROM rvc-jazzy-dev AS rvc-jazzy-exec
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-  ros-humble-ur-bringup \
-  ros-humble-ur-robot-driver \
-  ros-humble-ur-calibration \
+  ros-jazzy-hardware-interface \
+  ros-jazzy-ur-robot-driver \
+  ros-jazzy-ur-calibration \
   && rm -rf /var/lib/apt/lists/*
 
 RUN echo "$USERNAME soft rtprio   98" >> /etc/security/limits.conf \

robotics-ai-suite/robot-vision-control/README.md

@@ -1,3 +1,9 @@
+<!--
+Copyright (C) 2025 Intel Corporation
+
+SPDX-License-Identifier: Apache-2.0
+-->
+
 # RVC (Robot Vision & Control)
 
 Exemplary code and configuration for two uses cases:

robotics-ai-suite/robot-vision-control/docker_build_rvc_img.sh

@@ -26,7 +26,7 @@ else
 fi
 
 # Build the Docker image
-docker build $NO_CACHE -t rvc-humble-exec:latest -f Dockerfile.exec .
+docker build $NO_CACHE -t rvc-jazzy-exec:latest -f Dockerfile.exec .
 if [[ $? -ne 0 ]]; then
     echo "Docker build failed."
     exit 1

robotics-ai-suite/robot-vision-control/docker_run_rvc_img.sh

@@ -31,7 +31,7 @@ docker run -it \
     --env="WAYLAND_DISPLAY" \
     --env="XDG_RUNTIME_DIR" \
     --env="PULSE_SERVER" \
-    rvc-humble-exec:latest \
+    rvc-jazzy-exec:latest \
     /bin/bash
 
 if [[ $? -ne 0 ]]; then

robotics-ai-suite/robot-vision-control/src/robotiq_2f_gripper/robotiq_controller/debian/changelog

@@ -1,4 +1,4 @@
-ros-humble-robotiq-controllers (2.0.0jammy) jammy; urgency=high
+ros-jazzy-robotiq-controllers (2.3.noble) noble; urgency=high
 
   * Autogenerated, no changelog for this version found in CHANGELOG.rst.
 

robotics-ai-suite/robot-vision-control/src/robotiq_2f_gripper/robotiq_controller/debian/control

@@ -1,12 +1,37 @@
-Source: ros-humble-robotiq-controllers
+Source: ros-jazzy-robotiq-controllers
 Section: misc
 Priority: optional
 Maintainer: Intel Robotics Team <[email protected]>
-Build-Depends: debhelper (>= 9.0.0), ros-humble-ament-cmake, ros-humble-control-msgs, ros-humble-controller-interface, ros-humble-forward-command-controller, ros-humble-geometry-msgs, ros-humble-joint-trajectory-controller, ros-humble-pluginlib, ros-humble-rclcpp-lifecycle, ros-humble-rcutils, ros-humble-realtime-tools, ros-humble-sensor-msgs, ros-humble-std-msgs, ros-humble-std-srvs
+Build-Depends: debhelper (>= 9.0.0),
+    ros-jazzy-ament-cmake,
+    ros-jazzy-control-msgs,
+    ros-jazzy-controller-interface,
+    ros-jazzy-forward-command-controller,
+    ros-jazzy-geometry-msgs,
+    ros-jazzy-joint-trajectory-controller,
+    ros-jazzy-pluginlib,
+    ros-jazzy-rclcpp-lifecycle,
+    ros-jazzy-rcutils,
+    ros-jazzy-realtime-tools,
+    ros-jazzy-sensor-msgs,
+    ros-jazzy-std-msgs,
+    ros-jazzy-std-srvs
 Homepage: 
 Standards-Version: 3.9.2
 
-Package: ros-humble-robotiq-controllers
+Package: ros-jazzy-robotiq-controllers
 Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, ros-humble-control-msgs, ros-humble-controller-interface, ros-humble-forward-command-controller, ros-humble-geometry-msgs, ros-humble-joint-trajectory-controller, ros-humble-pluginlib, ros-humble-rclcpp-lifecycle, ros-humble-rcutils, ros-humble-realtime-tools, ros-humble-sensor-msgs, ros-humble-std-msgs, ros-humble-std-srvs
+Depends: ${shlibs:Depends}, ${misc:Depends},
+    ros-jazzy-control-msgs,
+    ros-jazzy-controller-interface,
+    ros-jazzy-forward-command-controller,
+    ros-jazzy-geometry-msgs,
+    ros-jazzy-joint-trajectory-controller,
+    ros-jazzy-pluginlib,
+    ros-jazzy-rclcpp-lifecycle,
+    ros-jazzy-rcutils,
+    ros-jazzy-realtime-tools,
+    ros-jazzy-sensor-msgs,
+    ros-jazzy-std-msgs,
+    ros-jazzy-std-srvs
 Description: Provides controllers for robotiq 2f gripper.

robotics-ai-suite/robot-vision-control/src/robotiq_2f_gripper/robotiq_controller/debian/rules

@@ -13,7 +13,7 @@ export DH_VERBOSE=1
 #  https://code.ros.org/trac/ros/ticket/2977
 #  https://code.ros.org/trac/ros/ticket/3842
 export LDFLAGS=
-export PKG_CONFIG_PATH=/opt/ros/humble/lib/pkgconfig
+export PKG_CONFIG_PATH=/opt/ros/jazzy/lib/pkgconfig
 # Explicitly enable -DNDEBUG, see:
 # 	https://github.com/ros-infrastructure/bloom/issues/327
 export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
@@ -30,38 +30,38 @@ override_dh_auto_configure:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
 	dh_auto_configure -- \
-		-DCMAKE_INSTALL_PREFIX="/opt/ros/humble" \
-		-DAMENT_PREFIX_PATH="/opt/ros/humble" \
-		-DCMAKE_PREFIX_PATH="/opt/ros/humble" \
+		-DCMAKE_INSTALL_PREFIX="/opt/ros/jazzy" \
+		-DAMENT_PREFIX_PATH="/opt/ros/jazzy" \
+		-DCMAKE_PREFIX_PATH="/opt/ros/jazzy" \
 		$(BUILD_TESTING_ARG)
 
 override_dh_auto_build:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
 	dh_auto_build
 
 override_dh_auto_test:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 	echo -- Running tests. Even if one of them fails the build is not canceled.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
 	dh_auto_test || true
 
 override_dh_shlibdeps:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
-	dh_shlibdeps -l$(CURDIR)/debian/ros-humble-robotiq-controllers//opt/ros/humble/lib/
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
+	dh_shlibdeps -l$(CURDIR)/debian/ros-jazzy-robotiq-controllers//opt/ros/jazzy/lib/
 
 override_dh_auto_install:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
 	dh_auto_install

robotics-ai-suite/robot-vision-control/src/robotiq_2f_gripper/robotiq_controller/src/robotiq_sensor_broadcaster.cpp

@@ -19,7 +19,6 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/qos_event.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "rcpputils/split.hpp"
@@ -90,7 +89,10 @@ controller_interface::return_type RobotiqSensorBroadcaster::update(const rclcpp:
   (void)period;
   if (publish_rate_ > 0.0 && (clock.now() - last_publish_time_) > rclcpp::Duration(1.0 / publish_rate_, 0.0)) {
     // Speed scaling is the only interface of the controller
-    object_grasped_state_msg_.data = state_interfaces_[0].get_value() ;
+    // 0.0 will be converted to std_msgs::msg::UInt16 which is the message type
+    // 0 will mean no object detected, while it does seem like an appropriate value
+    // we can also just to value() with some exception handling
+    object_grasped_state_msg_.data = state_interfaces_[0].get_optional().value_or(0.0);
 
     // publish
     object_grasped_state_publisher_->publish(object_grasped_state_msg_);

robotics-ai-suite/robot-vision-control/src/robotiq_2f_gripper/robotiq_driver/debian/changelog

@@ -1,4 +1,4 @@
-ros-humble-robotiq-driver-plugin (2.0.0jammy) jammy; urgency=high
+ros-jazzy-robotiq-driver-plugin (2.3.1noble) noble; urgency=high
 
   * Autogenerated, no changelog for this version found in CHANGELOG.rst.
 

robotics-ai-suite/robot-vision-control/src/robotiq_2f_gripper/robotiq_driver/debian/control

@@ -1,12 +1,22 @@
-Source: ros-humble-robotiq-driver-plugin
+Source: ros-jazzy-robotiq-driver-plugin
 Section: misc
 Priority: optional
 Maintainer: Intel Robotics Team <[email protected]>
-Build-Depends: debhelper (>= 9.0.0), ros-humble-ament-cmake, ros-humble-hardware-interface, ros-humble-pluginlib, ros-humble-rclcpp, ros-humble-std-srvs
+Build-Depends: debhelper (>= 9.0.0),
+    ros-jazzy-ament-cmake,
+    ros-jazzy-hardware-interface,
+    ros-jazzy-pluginlib,
+    ros-jazzy-rclcpp,
+    ros-jazzy-std-srvs
 Homepage: 
 Standards-Version: 3.9.2
 
-Package: ros-humble-robotiq-driver-plugin
+Package: ros-jazzy-robotiq-driver-plugin
 Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, ros-humble-controller-manager, ros-humble-hardware-interface, ros-humble-pluginlib, ros-humble-rclcpp, ros-humble-std-srvs
+Depends: ${shlibs:Depends}, ${misc:Depends},
+    ros-jazzy-controller-manager,
+    ros-jazzy-hardware-interface,
+    ros-jazzy-pluginlib,
+    ros-jazzy-rclcpp,
+    ros-jazzy-std-srvs
 Description: robotiq 2f driver

robotics-ai-suite/robot-vision-control/src/robotiq_2f_gripper/robotiq_driver/debian/rules

@@ -13,7 +13,7 @@ export DH_VERBOSE=1
 #  https://code.ros.org/trac/ros/ticket/2977
 #  https://code.ros.org/trac/ros/ticket/3842
 export LDFLAGS=
-export PKG_CONFIG_PATH=/opt/ros/humble/lib/pkgconfig
+export PKG_CONFIG_PATH=/opt/ros/jazzy/lib/pkgconfig
 # Explicitly enable -DNDEBUG, see:
 # 	https://github.com/ros-infrastructure/bloom/issues/327
 export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
@@ -30,38 +30,38 @@ override_dh_auto_configure:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
 	dh_auto_configure -- \
-		-DCMAKE_INSTALL_PREFIX="/opt/ros/humble" \
-		-DAMENT_PREFIX_PATH="/opt/ros/humble" \
-		-DCMAKE_PREFIX_PATH="/opt/ros/humble" \
+		-DCMAKE_INSTALL_PREFIX="/opt/ros/jazzy" \
+		-DAMENT_PREFIX_PATH="/opt/ros/jazzy" \
+		-DCMAKE_PREFIX_PATH="/opt/ros/jazzy" \
 		$(BUILD_TESTING_ARG)
 
 override_dh_auto_build:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
 	dh_auto_build
 
 override_dh_auto_test:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 	echo -- Running tests. Even if one of them fails the build is not canceled.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
 	dh_auto_test || true
 
 override_dh_shlibdeps:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
-	dh_shlibdeps -l$(CURDIR)/debian/ros-humble-robotiq-driver-plugin//opt/ros/humble/lib/
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
+	dh_shlibdeps -l$(CURDIR)/debian/ros-jazzy-robotiq-driver-plugin//opt/ros/jazzy/lib/
 
 override_dh_auto_install:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree and source it.  It will set things like
 	# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/humble/setup.sh" ]; then . "/opt/ros/humble/setup.sh"; fi && \
+	if [ -f "/opt/ros/jazzy/setup.sh" ]; then . "/opt/ros/jazzy/setup.sh"; fi && \
 	dh_auto_install