Jazzy Jalisco #337

jimmy-mcelwain · 2024-11-25T14:24:33Z

See #333. This updates MotoROS2 to make it compatible with Jazzy Jalisco, the new long term support release of ROS2.

src/CommunicationExecutor.c

src/MotoROS.h

ted-miller · 2024-11-25T19:25:15Z

This also needs updates to the readme

jimmy-mcelwain · 2024-11-25T20:21:33Z

This also needs updates to the readme

I can do that. Do we want to replace the examples in the README from Humble->Jazzy? Since Jazzy is the newest long term support? I know that we're still supporting Humble, but I just figured that we'll want to point new users to install Jazzy instead. Or do we want to keep Humble as the example distro for some time/does it not matter?

ted-miller · 2024-11-25T20:25:40Z

Do we want to replace the examples in the README from Humble->Jazzy?

I think so.

jimmy-mcelwain · 2024-12-06T19:49:26Z

I added Jazzy to the README. I replaced Humble with Jazzy in the example commands. I did not remove any references to Foxy or Galactic. I also removed a dead link to ROS Answers. I see discussion here that an archive of ROS Answers is being created. I can add back the link if that is later made available.

ted-miller

Couple humble references remain:

motoros2/README.md

Lines 162 to 163 in 0dcf5a6

    
           $ md5sum -b mr2_yrc1_h.out 
        
           e2d088b765a0bfed501aa213a1be1de0  mr2_yrc1_h.out

motoros2/README.md

Line 490 in 0dcf5a6

source /opt/ros/humble/setup.bash

Also, this table needs to be updated:

motoros2/README.md

Lines 169 to 179 in 0dcf5a6

    
           |**Controller** |**ROS 2 Version** | **File**          |**Version** | **MD5 hash**                       | 
        
           |:--------------|:-----------------|:------------------|:-----------|:-----------------------------------| 
        
           | DX200         | Foxy             | `mr2_dx2_f.out`   | `0.1.3`    | `a9a9e10403f726062c25d97654fad316` | 
        
           | DX200         | Galactic         | `mr2_dx2_g.out`   | `0.1.3`    | `e8db7512215da240b28b985f2f2af98b` | 
        
           | DX200         | Humble           | `mr2_dx2_h.out`   | `0.1.3`    | `611bda537655cf8a60d85600da6043f4` | 
        
           | YRC1000       | Foxy             | `mr2_yrc1_f.out`  | `0.1.3`    | `84bfb44e2043372127d9dfc1157a79b5` | 
        
           | YRC1000       | Galactic         | `mr2_yrc1_g.out`  | `0.1.3`    | `866e090b6c724429ce03117712c951f4` | 
        
           | YRC1000       | Humble           | `mr2_yrc1_h.out`  | `0.1.3`    | `e2d088b765a0bfed501aa213a1be1de0` | 
        
           | YRC1000micro  | Foxy             | `mr2_yrc1m_f.out` | `0.1.3`    | `027e77b427a212aa63e5d7962d48ad92` | 
        
           | YRC1000micro  | Galactic         | `mr2_yrc1m_g.out` | `0.1.3`    | `042d753a7729784fec8c5c23bef3e685` | 
        
           | YRC1000micro  | Humble           | `mr2_yrc1m_h.out` | `0.1.3`    | `c0e61adbf5bf6fd6a734211f15bb0f0a` |

README.md

jimmy-mcelwain · 2024-12-11T17:38:51Z

I added some more humble->jazzy swaps in the documentation. I don't know how I missed so many the first time around. We will still have to update the table with the new versions/hashes once they are ready.

.reuse/dep5

gavanderhoorn

Round of comments

doc/build_from_source.md

src/CommunicationExecutor.c

README.md

src/MotoROS2_AllControllers.vcxproj.filters

jimmy-mcelwain · 2024-12-12T17:11:13Z

I've addressed those changes. The project filters are particularly annoying to deal with, visual studio likes to change things in the background.

gavanderhoorn · 2024-12-13T13:04:37Z

@jimmy-mcelwain: the PR adding Iron support (#303) added these lines to the CommunicationExecutor.c. I was a bit surprised those were necessary in the first place, but I don't see them in this PR anymore.

Are they no longer needed? Were we doing something wrong previously? Or is this a difference between Iron and Jazzy (in our favour for once)?

(the Arduino examples also don't seem to include them: Iron version, Jazzy version)

jimmy-mcelwain · 2024-12-13T14:48:43Z

@jimmy-mcelwain: the PR adding Iron support (#303) added these lines to the CommunicationExecutor.c. I was a bit surprised those were necessary in the first place, but I don't see them in this PR anymore.

Are they no longer needed? Were we doing something wrong previously? Or is this a difference between Iron and Jazzy (in our favour for once)?

They are no longer needed. It is a difference between Iron and Jazzy in our favor. In Jazzy, the node_type_cache_init and node_type_cache_fini is all handled in the background for micro-ROS rcl. However, in Iron, it is not handled in the background. I don't know why the init/fini were manually patched out in Iron, but not in Jazzy.

I assume that the Arduino never includes them because the node_type_cache and all of the relevant functions only exist when RCL_MICROROS_COMPLETE_IMPL is set.

jimmy-mcelwain · 2024-12-13T16:20:48Z

What do we still have to do for release? I think that this repo should be good, except for we could clean up the commit history/rebase and update the table with new hashes. But first Yaskawa-Global/micro_ros_motoplus#11 needs to be reviewed.

ted-miller · 2024-12-13T20:08:13Z

What do we still have to do for release?

This passes all my testing. We just need to finish merging the back-end stuff.

update the table with new hashes

Not necessary until we make the 0.2.0 release.

README.md

libyaml_vendor being installed by ament_cmake_vendor_package (a new change in jazzy) puts it in a different location than previously.

rclc_timre_init_default was replaced with rclc_timer_init_default2 in jazzy, which has a different set of parameters. The old function is now deprecated, this change gets rid of the message.

Also change the distro used in examples from Humble to Jazzy, and remove dead links (ROS Answers)

The buildscript has been changed so that vendor packages will have their name in the include path, matching non-vendor packages.

Distributions older than Jazzy place vendor packages with the rest of the source files, but Jazzy places them in the opt directory, so the build script places the include files somewhere else.

A link to a ROS Answers thread was removed after ROS Answers was taken offline, but now the archive is up so we can add the old link back. Co-authored-by: G.A. vd. Hoorn <[email protected]>

gavanderhoorn · 2025-01-13T15:25:47Z

thanks for rebasing @jimmy-mcelwain.

This now builds because conditionals were added in ee58dda and 7facc1d. At least this introduced no regressions.

gavanderhoorn · 2025-01-13T17:54:25Z

(pre)released libmicroros Jazzy and updated CI here to build against it (911b2c5).

Should succeed, but let's see.

Edit: made a mistake. Will fix in a bit.

jimmy-mcelwain marked this pull request as draft November 25, 2024 14:25

jimmy-mcelwain mentioned this pull request Nov 25, 2024

Upgrade to jazzy Yaskawa-Global/micro_ros_motoplus#11

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Support Jazzy Jalisco #333

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gavanderhoorn force-pushed the jazzy_wip branch from 555289b to a2a5ca9 Compare December 12, 2024 08:54

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Add ROS Answers link back once the archive is online #342

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Add ROS Answers link back once the archive is online #342

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Add ROS Answers link back once the archive is online #342

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ci: bump M+ libmicroros version #351

Merged

jimmy-mcelwain added 6 commits January 13, 2025 09:35

Add jazzy libmicroros to gitignore

53a183d

Add required information to build jazzy

0af3131

Account for yaml.h moving for jazzy libmicroros headers

a470d89

libyaml_vendor being installed by ament_cmake_vendor_package (a new change in jazzy) puts it in a different location than previously.

Upgrade deprecated function in jazzy

7facc1d

rclc_timre_init_default was replaced with rclc_timer_init_default2 in jazzy, which has a different set of parameters. The old function is now deprecated, this change gets rid of the message.

Add Jazzy to README

97bde6c

Also change the distro used in examples from Humble to Jazzy, and remove dead links (ROS Answers)

Prepare documentation for Jazzy release

14d5f0d

jimmy-mcelwain and others added 7 commits January 13, 2025 09:35

Get rid of libyaml_vendor ifdef for Jazzy

e01416b

The buildscript has been changed so that vendor packages will have their name in the include path, matching non-vendor packages.

Add back references to foxy

bc77111

Add comment describing rclc_timer_init_default2(..)

57ddbd0

Undo accidental vcxproj.filter changes

5294f8b

Update doc/build_from_source.md

3ff1a99

Correct include path for new distro libyaml_vendor package

ee58dda

Distributions older than Jazzy place vendor packages with the rest of the source files, but Jazzy places them in the opt directory, so the build script places the include files somewhere else.

Add ROS Answers link back

89f87b7

A link to a ROS Answers thread was removed after ROS Answers was taken offline, but now the archive is up so we can add the old link back. Co-authored-by: G.A. vd. Hoorn <[email protected]>

jimmy-mcelwain force-pushed the jazzy_wip branch from 1a7ea52 to 89f87b7 Compare January 13, 2025 14:41

ci: build against Jazzy libmicroros pre-release

7a9889c

gavanderhoorn force-pushed the jazzy_wip branch from 911b2c5 to 7a9889c Compare January 13, 2025 19:00

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Jazzy Jalisco #337

Jazzy Jalisco #337

jimmy-mcelwain commented Nov 25, 2024

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	$ md5sum -b mr2_yrc1_h.out
	e2d088b765a0bfed501aa213a1be1de0 mr2_yrc1_h.out

	\|Controller \|ROS 2 Version \| File \|Version \| MD5 hash \|
	\|:--------------\|:-----------------\|:------------------\|:-----------\|:-----------------------------------\|
	\| DX200 \| Foxy \| `mr2_dx2_f.out` \| `0.1.3` \| `a9a9e10403f726062c25d97654fad316` \|
	\| DX200 \| Galactic \| `mr2_dx2_g.out` \| `0.1.3` \| `e8db7512215da240b28b985f2f2af98b` \|
	\| DX200 \| Humble \| `mr2_dx2_h.out` \| `0.1.3` \| `611bda537655cf8a60d85600da6043f4` \|
	\| YRC1000 \| Foxy \| `mr2_yrc1_f.out` \| `0.1.3` \| `84bfb44e2043372127d9dfc1157a79b5` \|
	\| YRC1000 \| Galactic \| `mr2_yrc1_g.out` \| `0.1.3` \| `866e090b6c724429ce03117712c951f4` \|
	\| YRC1000 \| Humble \| `mr2_yrc1_h.out` \| `0.1.3` \| `e2d088b765a0bfed501aa213a1be1de0` \|
	\| YRC1000micro \| Foxy \| `mr2_yrc1m_f.out` \| `0.1.3` \| `027e77b427a212aa63e5d7962d48ad92` \|
	\| YRC1000micro \| Galactic \| `mr2_yrc1m_g.out` \| `0.1.3` \| `042d753a7729784fec8c5c23bef3e685` \|
	\| YRC1000micro \| Humble \| `mr2_yrc1m_h.out` \| `0.1.3` \| `c0e61adbf5bf6fd6a734211f15bb0f0a` \|

Jazzy Jalisco #337

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Jazzy Jalisco #337

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