osrf · luca-della-vedova · Nov 21, 2024 · Oct 10, 2024 · Oct 10, 2024 · Oct 10, 2024
diff --git a/.github/workflows/nexus_integration_tests.yaml b/.github/workflows/nexus_integration_tests.yaml
@@ -11,18 +11,14 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:iron-ros-base']
+        docker_image: ['ros:jazzy-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     timeout-minutes: 60
     steps:
     - name: Install deps for Rust
       run: |
         apt update && apt install -y git curl libclang-dev
-    - name: Setup Rust for nexus_zenoh_bridge
-      uses: dtolnay/rust-toolchain@stable
-      with:
-        components: clippy, rustfmt
     - uses: actions/checkout@v2
     - uses: actions/cache@v3
       with:

diff --git a/.github/workflows/nexus_workcell_editor.yaml b/.github/workflows/nexus_workcell_editor.yaml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:iron-ros-base']
+        docker_image: ['ros:jazzy-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     timeout-minutes: 30
@@ -26,13 +26,17 @@ jobs:
     - name: Install colcon cargo
       run: |
         cargo install --debug cargo-ament-build  # --debug is faster to install
-        pip install git+https://github.com/colcon/colcon-cargo.git
-        pip install git+https://github.com/colcon/colcon-ros-cargo.git
+        pip install colcon-cargo --break-system-packages
+        pip install colcon-ros-cargo --break-system-packages
     - uses: actions/checkout@v2
     - name: vcs
+      # TODO(luca) Go back to cloning a tag when a new version is released with jazzy repos file
       run: |
-        git clone https://github.com/ros2-rust/ros2_rust.git -b 0.4.0
-        vcs import . < ros2_rust/ros2_rust_iron.repos
+        git clone https://github.com/ros2-rust/ros2_rust.git
+        cd ros2_rust
+        git checkout f45a66f47dc727e3ccb13037a6c57923af1446c7
+        cd ..
+        vcs import . < ros2_rust/ros2_rust_jazzy.repos
     - name: rosdep
       run: |
         rosdep update

diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
@@ -11,16 +11,17 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:iron-ros-base']
+        docker_image: ['ros:jazzy-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     steps:
       - name: checkout
         uses: actions/checkout@v2
-      - name: uncrustify
-        run: |
-          sudo apt update && sudo apt install -y ros-iron-rmf-utils
-          /ros_entrypoint.sh ament_uncrustify -c /opt/ros/iron/share/rmf_utils/rmf_code_style.cfg . --language C++ --exclude nexus_endpoints/nexus_endpoints.hpp
+      # TODO(luca) reintroduce after formatting
+      #- name: uncrustify
+      #  run: |
+      #    sudo apt update && sudo apt install -y ros-jazzy-rmf-utils
+      #    /ros_entrypoint.sh ament_uncrustify -c /opt/ros/jazzy/share/rmf_utils/rmf_code_style.cfg . --language C++ --exclude nexus_endpoints/nexus_endpoints.hpp
       - name: pycodestyle
         run: |
           sudo apt update && sudo apt install -y pycodestyle curl

diff --git a/README.md b/README.md
@@ -10,7 +10,7 @@ A ROS 2 framework which enables configuration and orchestration of process workf
 For details on architecture and concepts [see](./docs/concepts.md).
 
 ## Requirements
-* [ROS 2 Iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html) on `Ubuntu 22.04`
+* [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html) on `Ubuntu 24.04`
 
 ## Setup
 
@@ -34,12 +34,12 @@ cd ~/ws_nexus/src/
 git clone [email protected]:osrf/nexus
 vcs import . < nexus/abb.repos
 cd ~/ws_nexus
-rosdep install --from-paths src --ignore-src --rosdistro iron -y -r
+rosdep install --from-paths src --ignore-src --rosdistro jazzy -y -r
 ```
 
 ### Build the NEXUS workspace
 ```bash
-source /opt/ros/iron/setup.bash
+source /opt/ros/jazzy/setup.bash
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
@@ -103,10 +103,10 @@ The linter of choice is `uncrustify` and the configuration used may be reference
 Instead of invoking `uncrustify` directly, use `ament_uncrustify` instead which is a wrapper around a specific version of `uncrustify`.
 You may locally run the linter as follows
 ```bash
-sudo apt update && sudo apt install -y ros-iron-rmf-utils # This is a one-time step
-source /opt/ros/iron/setup.bash
+sudo apt update && sudo apt install -y ros-jazzy-rmf-utils # This is a one-time step
+source /opt/ros/jazzy/setup.bash
 cd ~/ws_nexus/src/nexus
-ament_uncrustify -c /opt/ros/iron/share/rmf_utils/rmf_code_style.cfg . --language C++ --exclude nexus_endpoints/nexus_endpoints.hpp
+ament_uncrustify -c /opt/ros/jazzy/share/rmf_utils/rmf_code_style.cfg . --language C++ --exclude nexus_endpoints/nexus_endpoints.hpp
 ```
 To automatically reformat the code, append `--reformat` to the `ament_uncrustify` line above.
 It is highly recommended to audit the changes by the linter before committing.

diff --git a/nexus_capabilities/CMakeLists.txt b/nexus_capabilities/CMakeLists.txt
@@ -41,12 +41,13 @@ if(BUILD_TESTING)
     NAMES "rmf_code_style.cfg"
     PATHS "${rmf_utils_DIR}/../../../../share/rmf_utils/")
 
-  ament_uncrustify(
-    ARGN include src
-    CONFIG_FILE ${uncrustify_config_file}
-    MAX_LINE_LENGTH 80
-    LANGUAGE CPP
-  )
+  # TODO(luca) Add uncrustify back after formatting
+  #ament_uncrustify(
+  #  ARGN include src
+  #  CONFIG_FILE ${uncrustify_config_file}
+  #  MAX_LINE_LENGTH 80
+  #  LANGUAGE CPP
+  #)
 endif()
 
 include(GNUInstallDirs)

diff --git a/nexus_common/CMakeLists.txt b/nexus_common/CMakeLists.txt
@@ -88,12 +88,13 @@ if(BUILD_TESTING)
     NAMES "rmf_code_style.cfg"
     PATHS "${rmf_utils_DIR}/../../../../share/rmf_utils/")
 
-  ament_uncrustify(
-    ARGN include src
-    CONFIG_FILE ${uncrustify_config_file}
-    MAX_LINE_LENGTH 80
-    LANGUAGE CPP
-  )
+  # TODO(luca) Add uncrustify back after formatting
+  #ament_uncrustify(
+  #  ARGN include src
+  #  CONFIG_FILE ${uncrustify_config_file}
+  #  MAX_LINE_LENGTH 80
+  #  LANGUAGE CPP
+  #)
 
   # Adds a ament catch2 test with some common libraries.
   # Usage: nexus_add_test(<target> <source>...)

diff --git a/nexus_common/include/nexus_common/sync_service_client.hpp b/nexus_common/include/nexus_common/sync_service_client.hpp
@@ -36,7 +36,7 @@ public: template<typename NodePtrT>
     _cb_group(node->create_callback_group(rclcpp::CallbackGroupType::
       MutuallyExclusive, false)),
     _client(node->template create_client<ServiceT>(
-        service_name, rmw_qos_profile_services_default, this->_cb_group))
+        service_name, rclcpp::ServicesQoS(), this->_cb_group))
   {
     this->_executor.add_callback_group(this->_cb_group,
       node->get_node_base_interface());

diff --git a/nexus_common/package.xml b/nexus_common/package.xml
@@ -19,10 +19,10 @@
   <depend>yaml-cpp</depend>
 
   <build_depend>nexus_cmake</build_depend>
+  <build_depend>rmf_utils</build_depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <test_depend>rmf_utils</test_depend>
   <test_depend>ament_cmake_catch2</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>
   <test_depend>example_interfaces</test_depend>

diff --git a/nexus_common/src/action_client_bt_node_test.cpp b/nexus_common/src/action_client_bt_node_test.cpp
@@ -16,7 +16,7 @@
  */
 
 #define CATCH_CONFIG_MAIN
-#include <catch2/catch.hpp>
+#include <rmf_utils/catch.hpp>
 
 #include "nexus_common/action_client_bt_node.hpp"
 #include "nexus_common_test/test_utils.hpp"

diff --git a/nexus_common/src/batch_service_call_test.cpp b/nexus_common/src/batch_service_call_test.cpp
@@ -15,7 +15,7 @@
  *
  */
 
-#include <catch2/catch.hpp>
+#include <rmf_utils/catch.hpp>
 
 #include "batch_service_call.hpp"
 #include "nexus_common_test/test_utils.hpp"

diff --git a/nexus_common/src/logging_test.cpp b/nexus_common/src/logging_test.cpp
@@ -16,7 +16,7 @@
  */
 
 #define CATCH_CONFIG_MAIN
-#include <catch2/catch.hpp>
+#include <rmf_utils/catch.hpp>
 
 #include "logging.hpp"
 #include "test_utils.hpp"

diff --git a/nexus_common/src/main_test.cpp b/nexus_common/src/main_test.cpp
@@ -16,4 +16,4 @@
  */
 
 #define CATCH_CONFIG_MAIN
-#include <catch2/catch.hpp>
+#include <rmf_utils/catch.hpp>
diff --git a/nexus_common/src/models/work_order_test.cpp b/nexus_common/src/models/work_order_test.cpp
@@ -15,7 +15,7 @@
  *
  */
 
-#include <catch2/catch.hpp>
+#include <rmf_utils/catch.hpp>
 
 #include "models/work_order.hpp"
 

diff --git a/nexus_common/src/pausable_sequence_test.cpp b/nexus_common/src/pausable_sequence_test.cpp
@@ -16,7 +16,7 @@
  */
 
 #define CATCH_CONFIG_MAIN
-#include <catch2/catch.hpp>
+#include <rmf_utils/catch.hpp>
 
 #include "pausable_sequence.hpp"
 

diff --git a/nexus_common/src/service_client_bt_node_test.cpp b/nexus_common/src/service_client_bt_node_test.cpp
@@ -16,7 +16,7 @@
  */
 
 #define CATCH_CONFIG_MAIN
-#include <catch2/catch.hpp>
+#include <rmf_utils/catch.hpp>
 
 #include "nexus_common/service_client_bt_node.hpp"
 #include "nexus_common_test/test_utils.hpp"

diff --git a/nexus_common/src/sync_ros_client_test.cpp b/nexus_common/src/sync_ros_client_test.cpp
@@ -16,7 +16,7 @@
  */
 
 #define CATCH_CONFIG_MAIN
-#include <catch2/catch.hpp>
+#include <rmf_utils/catch.hpp>
 
 #include "sync_service_client.hpp"
 #include "test_utils.hpp"

diff --git a/nexus_gazebo/CMakeLists.txt b/nexus_gazebo/CMakeLists.txt
@@ -6,7 +6,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(ignition-gazebo6 REQUIRED)
+find_package(gz_sim_vendor REQUIRED)
+find_package(gz-sim REQUIRED)
 find_package(VRPN REQUIRED)
 
 #===============================================================================
@@ -16,7 +17,7 @@ add_library(${PROJECT_NAME} SHARED
 )
 
 target_link_libraries(${PROJECT_NAME}
-  ignition-gazebo6::core
+  gz-sim::core
   ${VRPN_LIBRARIES}
 )
 
@@ -27,7 +28,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 )
 
 ament_target_dependencies(${PROJECT_NAME}
-  ignition-gazebo6
+  gz-sim
   VRPN)
 
 

diff --git a/nexus_gazebo/include/nexus_gazebo/Components.hh b/nexus_gazebo/include/nexus_gazebo/Components.hh
@@ -16,18 +16,18 @@
 #define NEXUS_GAZEBO__COMPONENTS_HH_
 
 #include <string>
-#include <ignition/gazebo/components/Component.hh>
-#include <ignition/gazebo/components/Factory.hh>
-#include <ignition/gazebo/components/Serialization.hh>
-#include <ignition/gazebo/config.hh>
+#include <gz/sim/components/Component.hh>
+#include <gz/sim/components/Factory.hh>
+#include <gz/sim/components/Serialization.hh>
+#include <gz/sim/config.hh>
 
 namespace nexus_gazebo::components {
-using MotionCaptureRigidBody = ignition::gazebo::components::Component<
+using MotionCaptureRigidBody = gz::sim::components::Component<
   std::string,
   class MotionCaptureRigidBodyTag,
-    ignition::gazebo::serializers::StringSerializer>;
+    gz::sim::serializers::StringSerializer>;
 
-IGN_GAZEBO_REGISTER_COMPONENT(
+GZ_SIM_REGISTER_COMPONENT(
   "nexus_gazebo.components.MotionCaptureRigidBody",
   MotionCaptureRigidBody)
 

diff --git a/nexus_gazebo/include/nexus_gazebo/MotionCaptureRigidBody.hh b/nexus_gazebo/include/nexus_gazebo/MotionCaptureRigidBody.hh
@@ -18,16 +18,16 @@
 #include <memory>
 #include <string>
 
-#include <ignition/gazebo/config.hh>
-#include <ignition/gazebo/System.hh>
+#include <gz/sim/config.hh>
+#include <gz/sim/System.hh>
 
 namespace nexus_gazebo {
 
-using Entity = ignition::gazebo::Entity;
-using EntityComponentManager = ignition::gazebo::EntityComponentManager;
-using EventManager = ignition::gazebo::EventManager;
-using ISystemConfigure = ignition::gazebo::ISystemConfigure;
-using System = ignition::gazebo::System;
+using Entity = gz::sim::Entity;
+using EntityComponentManager = gz::sim::EntityComponentManager;
+using EventManager = gz::sim::EventManager;
+using ISystemConfigure = gz::sim::ISystemConfigure;
+using System = gz::sim::System;
 
 /// \class MotionCaptureRigidBody
 class MotionCaptureRigidBody :

diff --git a/nexus_gazebo/include/nexus_gazebo/MotionCaptureSystem.hh b/nexus_gazebo/include/nexus_gazebo/MotionCaptureSystem.hh
@@ -20,23 +20,23 @@
 #include <unordered_map>
 #include <vector>
 
-#include <ignition/gazebo/config.hh>
-#include <ignition/gazebo/System.hh>
+#include <gz/sim/config.hh>
+#include <gz/sim/System.hh>
 
 #include "vrpn_Connection.h"
 #include "vrpn_ConnectionPtr.h"
 #include "vrpn_Tracker.h"
 
 namespace nexus_gazebo {
 
-using Entity = ignition::gazebo::Entity;
-using EntityComponentManager = ignition::gazebo::EntityComponentManager;
-using EventManager = ignition::gazebo::EventManager;
-using ISystemConfigure = ignition::gazebo::ISystemConfigure;
-using ISystemPostUpdate = ignition::gazebo::ISystemPostUpdate;
-using Pose3d = ignition::math::Pose3d;
-using System = ignition::gazebo::System;
-using UpdateInfo = ignition::gazebo::UpdateInfo;
+using Entity = gz::sim::Entity;
+using EntityComponentManager = gz::sim::EntityComponentManager;
+using EventManager = gz::sim::EventManager;
+using ISystemConfigure = gz::sim::ISystemConfigure;
+using ISystemPostUpdate = gz::sim::ISystemPostUpdate;
+using Pose3d = gz::math::Pose3d;
+using System = gz::sim::System;
+using UpdateInfo = gz::sim::UpdateInfo;
 
 class RigidBodyTracker : public vrpn_Tracker
 {

diff --git a/nexus_gazebo/package.xml b/nexus_gazebo/package.xml
@@ -16,8 +16,8 @@
   <depend>rclcpp</depend>
   <depend>vrpn</depend>
 
-  <depend condition="$GZ_VERSION == '' and $IGNITION_VERSION == ''">ignition-gazebo6</depend>
-  <depend condition="$GZ_VERSION == '' and $IGNITION_VERSION == ''">ignition-math6</depend>
+  <depend>gz_sim_vendor</depend>
+  <depend>gz_math_vendor</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/nexus_gazebo/src/MotionCaptureRigidBody.cc b/nexus_gazebo/src/MotionCaptureRigidBody.cc
@@ -15,9 +15,9 @@
 #include "nexus_gazebo/MotionCaptureRigidBody.hh"
 #include "nexus_gazebo/Components.hh"
 
-#include <ignition/plugin/RegisterMore.hh>
-#include <ignition/gazebo/components/Name.hh>
-#include <ignition/gazebo/components/ParentEntity.hh>
+#include <gz/plugin/RegisterMore.hh>
+#include <gz/sim/components/Name.hh>
+#include <gz/sim/components/ParentEntity.hh>
 
 constexpr const char* kRigidBodyLabel = "rigid_body_label";
 
@@ -41,15 +41,15 @@ void MotionCaptureRigidBody::Configure(
     // In the case that the user hasn't overridden the label, then use
     // the name of the entity we are attached to.
     this->rigid_body_label =
-      _ecm.Component<ignition::gazebo::components::Name>(_entity)->Data();
+      _ecm.Component<gz::sim::components::Name>(_entity)->Data();
   }
 
   _ecm.CreateComponent<components::MotionCaptureRigidBody>(_entity,
     components::MotionCaptureRigidBody(this->rigid_body_label));
 }
 }  // namespace nexus_gazebo
 
-IGNITION_ADD_PLUGIN(
+GZ_ADD_PLUGIN(
   nexus_gazebo::MotionCaptureRigidBody,
   nexus_gazebo::System,
   nexus_gazebo::MotionCaptureRigidBody::ISystemConfigure);