ubuntu24-x86_64-robotics-jazzy-iso.yml

# Robotics AI Suite: Full ROS 2 Jazzy ISO Image Template
# Ubuntu 24.04 LTS + ROS 2 Jazzy Desktop + Intel OpenVINO + Gazebo Harmonic +
# Intel RealSense + Robotics SDK + Collab SLAM + Intel GPU/NPU support
#
# Bootable ISO installer image. Flash to USB, boot, and install to internal drive.
# Includes ROS 2 Jazzy Desktop, Intel OpenVINO 2025, Gazebo Harmonic physics simulator,
# Intel RealSense camera libraries, Intel NPU drivers, Mesa GPU stack, and more.
#
# Usage:
#   sudo -E ./os-image-composer build image-templates/ubuntu24-x86_64-robotics-jazzy-iso.yml
#
# Flash to USB:
#   sudo dd if=builds/robotics-jazzy-ubuntu24-24.04.iso of=/dev/sdX bs=4M status=progress conv=fsync
#
# Boot from USB, then the live-installer writes to the target drive.
#
# ROS 2 is auto-sourced on login. Run demos:
#   ros2 run turtlesim turtlesim_node &
#   ros2 run demo_nodes_cpp talker &
#   ros2 run demo_nodes_cpp listener &
#
# OpenVINO inference example:
#   ros2 launch openvino_node openvino_node.launch.py
#
# Gazebo Harmonic simulation:
#   gz sim shapes.sdf

# AI-searchable metadata for template discovery
metadata:
  description: Bootable ISO installer for ROS 2 Jazzy robotics image with Intel OpenVINO, Gazebo Harmonic, RealSense, and Intel GPU/NPU support
  use_cases:
    - Full robotics development environment
    - ROS 2 Jazzy Desktop with all tools
    - Intel OpenVINO AI inference on robots
    - Gazebo Harmonic physics simulation
    - Intel RealSense depth camera integration
    - Collaborative SLAM (collab-slam-lze)
    - Intel GPU acceleration (Xe/UHD Graphics)
    - Intel NPU inference offload
    - Edge robotics deployments
    - Bootable USB installation media
    - Bare metal provisioning
  keywords:
    - robotics
    - ros2
    - jazzy
    - openvino
    - gazebo
    - harmonic
    - realsense
    - slam
    - intel
    - gpu
    - npu
    - level-zero
    - mesa
    - ubuntu
    - iso
    - bootable
    - installer

image:
  name: robotics-jazzy-ubuntu24
  version: "24.04"

target:
  os: ubuntu
  dist: ubuntu24
  arch: x86_64
  imageType: iso

packageRepositories:
  # ROS 2 Jazzy repository
  - codename: "noble"
    url: "http://packages.ros.org/ros2/ubuntu"
    pkey: "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
    component: "main"

  # Intel Edge Controls for Industrial (ECI) repository
  # Priority 1000 ensures ECI packages (systemd+ETF/taprio, PCL+oneAPI, FLANN+oneAPI)
  # are preferred over Ubuntu defaults when version strings differ.
  # No allowPackages filter — ECI packages have deep transitive dependency chains
  # that require many ECI-only sub-packages to satisfy.
  - codename: "isar"
    url: "https://eci.intel.com/repos/noble"
    pkey: "https://eci.intel.com/repos/gpg-keys/GPG-PUB-KEY-INTEL-ECI.gpg"
    component: "main"
    priority: 1000

  # Intel AMR (Autonomous Mobile Robots) repository (uses ECI GPG key)
  # Priority 1001 (above ECI) — AMR packages override ECI when both provide the same package.
  - codename: "amr"
    url: "https://amrdocs.intel.com/repos/noble"
    pkey: "https://eci.intel.com/repos/gpg-keys/GPG-PUB-KEY-INTEL-ECI.gpg"
    component: "main"
    priority: 1001

  # Intel OneAPI runtime repository
  - codename: "all"
    url: "https://apt.repos.intel.com/oneapi"
    pkey: "https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB"
    component: "main"

  # Intel OpenVINO 2025 repository
  - codename: "ubuntu24"
    url: "https://apt.repos.intel.com/openvino/2025"
    pkey: "https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB"
    component: "main"

  # Kisak Mesa PPA (latest Mesa drivers)
  - codename: "noble"
    url: "https://ppa.launchpadcontent.net/kisak/kisak-mesa/ubuntu"
    pkey: "https://keyserver.ubuntu.com/pks/lookup?op=get&search=0xEB8B81E14DA65431D7504EA8F63F0F2B90935439"
    component: "main"

  # Kobuk Team Intel Graphics PPA
  - codename: "noble"
    url: "https://ppa.launchpadcontent.net/kobuk-team/intel-graphics/ubuntu"
    pkey: "https://keyserver.ubuntu.com/pks/lookup?op=get&search=0x0C0E6AF955CE463C03FC51574D098D70AFBE5E1F"
    component: "main"

  # Gazebo (OSRF) Harmonic stable repository
  - codename: "noble"
    url: "https://packages.osrfoundation.org/gazebo/ubuntu-stable"
    pkey: "https://packages.osrfoundation.org/gazebo.gpg"
    component: "main"

  # Intel RealSense repository — NOT needed at build time.
  # All RealSense packages are installed on first boot via systemd oneshot service
  # (see configurations section). The first-boot script sets up the repo itself.

systemConfig:
  name: robotics-jazzy
  description: Intel Robotics AI Suite - Full ROS 2 Jazzy with OpenVINO, Gazebo, RealSense, and Intel GPU/NPU

  immutability:
    enabled: false

  packages:
    # ── Base system ──────────────────────────────────────────────────
    - ubuntu-minimal
    - ubuntu-desktop-minimal
    - systemd
    - systemd-resolved
    - systemd-boot
    - systemd-timesyncd
    - openssh-server
    - network-manager
    - sudo
    - curl
    - wget
    - vim
    - software-properties-common
    - gnupg
    - lsb-release
    - debconf-utils

    # Boot / initramfs (required for UKI)
    - dracut-core
    - cryptsetup-bin

    # ── ROS 2 Jazzy Desktop (full) ──────────────────────────────────
    - ros-jazzy-desktop

    # ── Intel OpenVINO 2025 (pinned to 2025.3.0) ─────────────────────
    - openvino_2025.3.0.19807
    - ros-jazzy-openvino-wrapper-lib
    - ros-jazzy-openvino-node

    # ── Intel GPU / Level Zero ──────────────────────────────────────
    - libze1
    - libze-intel-gpu1

    # ── Gazebo Harmonic physics simulator ───────────────────────────
    - gz-harmonic

    # ── Intel Robotics SDK ───────────────────────────────────────────
    - ros-jazzy-robotics-sdk

    # ── Collaborative SLAM (Intel Xe / UHD GPU accelerated) ──────────
    - ros-jazzy-collab-slam-lze

    # ── Intel RealSense camera ──────────────────────────────────────
    # Installed on first boot via systemd oneshot service (see configurations).
    # librealsense2-dkms requires DKMS which needs a live kernel to build modules;
    # cannot be built inside chroot. All RealSense packages are installed together
    # on first boot to ensure DKMS + userspace SDK are in sync.

    # ── Mesa GPU stack (Intel Xe / UHD) ─────────────────────────────
    - libegl-mesa0
    - libgl1-mesa-dri
    - libgbm1
    - libglx-mesa0
    - mesa-libgallium
    - mesa-va-drivers
    - mesa-vdpau-drivers
    - mesa-vulkan-drivers
    - xwayland

    # ── Firmware ────────────────────────────────────────────────────
    - linux-firmware

    # ── Intel NPU (Neural Processing Unit) drivers ───────────────────
    - intel-level-zero-npu
    - intel-driver-compiler-npu

  kernel:
    version: "6.17"
    cmdline: "console=ttyS0,115200 console=tty0 loglevel=7"
    packages:
      - linux-image-generic-hwe-24.04

  configurations:
    # ── ROS 2 environment setup ────────────────────────────────────
    - cmd: "echo 'source /opt/ros/jazzy/setup.bash' >> /etc/bash.bashrc"
    - cmd: "echo 'export ROS_DOMAIN_ID=45' >> /etc/bash.bashrc"

    # ── Post-deployment APT version pinning (protects against bad upgrades) ──
    # Note: Origin-based priority pins (ECI=1000, AMR=1001) are auto-generated
    # by the provider from packageRepositories.priority fields.
    # Only version-specific pins that the provider cannot generate are listed here.
    #
    # Block old FLANN 1.19.x from ECI (prefer Ubuntu's FLANN 1.9.2)
    - cmd: "printf 'Package: libflann*\\nPin: version 1.19.*\\nPin-Priority: -1\\n\\nPackage: flann*\\nPin: version 1.19.*\\nPin-Priority: -1\\n' > /etc/apt/preferences.d/eci-flann-block"
    # Pin OneAPI runtime deps to 2025.3.*
    - cmd: "printf 'Package: intel-oneapi-runtime-*\\nPin: version 2025.3.*\\nPin-Priority: 1001\\n' > /etc/apt/preferences.d/oneapi"
    # OpenVINO version pins (match init_jazzy.sh exactly)
    - cmd: "printf 'Package: openvino-libraries-dev\\nPin: version 2025.3.0*\\nPin-Priority: 1001\\n\\nPackage: openvino\\nPin: version 2025.3.0*\\nPin-Priority: 1001\\n\\nPackage: ros-jazzy-openvino-wrapper-lib\\nPin: version 2025.3.0*\\nPin-Priority: 1002\\n\\nPackage: ros-jazzy-openvino-node\\nPin: version 2025.3.0*\\nPin-Priority: 1002\\n' > /etc/apt/preferences.d/intel-openvino"
    # RealSense version pin
    - cmd: "printf 'Package: librealsense2*\\nPin: version 2.56.5-0~realsense.17055\\nPin-Priority: 1001\\n' > /etc/apt/preferences.d/librealsense"

    # ── debconf pre-selections for OpenVINO node ─────────────────────
    - cmd: "echo 'ros-jazzy-openvino-node openvino-node/pip-proxy select true' | debconf-set-selections"
    - cmd: "echo 'ros-jazzy-openvino-node openvino-node/models select true' | debconf-set-selections"

    # ── Intel NPU udev rules (render group access to /dev/accel/*) ──
    - cmd: "printf 'SUBSYSTEM==\"accel\", KERNEL==\"accel*\", GROUP=\"render\", MODE=\"0660\"\\n' > /etc/udev/rules.d/10-intel-vpu.rules"

    # ── Intel RealSense first-boot installation ────────────────────
    # librealsense2-dkms requires DKMS (needs live kernel for module builds).
    # This creates a systemd oneshot that sets up the repo, installs all
    # RealSense packages (version-pinned via /etc/apt/preferences.d/librealsense),
    # then disables itself.
    - cmd: "printf '#!/bin/bash\\nset -euo pipefail\\nexport DEBIAN_FRONTEND=noninteractive\\nmkdir -p /etc/apt/keyrings\\ncurl -sSf https://librealsense.intel.com/Debian/librealsense.pgp -o /etc/apt/keyrings/librealsense.pgp\\necho \"deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo noble main\" > /etc/apt/sources.list.d/librealsense.list\\napt-get update\\napt-get install -y librealsense2-dkms librealsense2\\nsystemctl disable install-librealsense.service\\nrm -f /usr/local/bin/install-librealsense.sh\\n' > /usr/local/bin/install-librealsense.sh"
    - cmd: "chmod 755 /usr/local/bin/install-librealsense.sh"
    - cmd: "printf '[Unit]\\nDescription=Install Intel RealSense packages (first boot)\\nAfter=network-online.target\\nWants=network-online.target\\nConditionPathExists=/usr/local/bin/install-librealsense.sh\\n\\n[Service]\\nType=oneshot\\nExecStart=/usr/local/bin/install-librealsense.sh\\nEnvironment=DEBIAN_FRONTEND=noninteractive\\nTimeoutStartSec=0\\n\\n[Install]\\nWantedBy=multi-user.target\\n' > /etc/systemd/system/install-librealsense.service"
    - cmd: "systemctl enable install-librealsense.service"

    # ── Enable required services ────────────────────────────────────
    - cmd: "systemctl enable NetworkManager"
    - cmd: "systemctl enable ssh"

    # ── Set hostname ────────────────────────────────────────────────
    - cmd: "echo 'robotics-jazzy' > /etc/hostname"