Updated files to ROS2 Jazzy and added support for ARM

.devcontainer/Dockerfile

@@ -1,83 +1,80 @@
 # Dockerfile
-# Accept BASE_IMAGE as a build argument with a default value
-ARG BASE_IMAGE=osrf/ros:iron-desktop
+ARG BASE_IMAGE=ros:jazzy-perception
 FROM ${BASE_IMAGE}
 
-# Set environment variable to prevent interactive prompts during package installation
-ENV DEBIAN_FRONTEND                 noninteractive
-ENV QT_X11_NO_MITSHM                1
-ENV TERM                            xterm-256color
+# Remove the default "ubuntu" user so that UID 1000 is free.
+RUN userdel -r ubuntu || true
 
-# Install APT packages including Python and pip
-RUN apt-get update && apt-get install -y \
-    # Ubuntu essentials    
-    apt-utils \
-    wget \
-    unzip \
-    git-all \
-    # Python essentials
-#     python3 \
-#     python3-pip \
-#     python3-venv \
-#     python3-tk \
-    # Libraries for X11 visualization
-    libx11-dev \
-    libxrender1 \
-    libxext6 \
-    libfontconfig1 \
-    # Other dependencies
-    libglib2.0-0 \
-    # Agilex dependencies
-    libasio-dev \
-    kmod \
-    iproute2 \
-    can-utils \
-    net-tools \
-    ros-iron-xacro \
-    # Nav2 dependencies
-    ros-iron-navigation2 \
-    ros-iron-nav2-bringup \
-    ros-iron-mapviz \
-    ros-iron-mapviz-plugins \
-    ros-iron-tile-map \
-    # Remove cached data
-    && rm -rf /var/lib/apt/lists/*
+# Set environment variables to avoid interactive prompts and to configure terminal behavior.
+ENV DEBIAN_FRONTEND=noninteractive
+ENV QT_X11_NO_MITSHM=1
+ENV TERM=xterm-256color
 
-# # Upgrade pip to the latest version (optional but recommended)
-# # RUN pip3 install --upgrade pip --break-system-packages
+# Install common APT packages, then conditionally install Mapviz on x86.
+RUN apt update && \
+    apt install -y \
+      libasio-dev \
+      apt-utils \
+      nano \
+      wget \
+      unzip \
+      git-all \
+      libx11-dev \
+      libxrender1 \
+      libxext6 \
+      libfontconfig1 \
+      libglib2.0-0 \
+      kmod \
+      iproute2 \
+      can-utils \
+      net-tools \
+      python3-tk \
+      ros-jazzy-xacro \
+      ros-jazzy-navigation2 \
+      ros-jazzy-nav2-bringup \
+      ros-jazzy-teleop-twist-keyboard \
+      sudo && \
+    \
+    # Detect device architecture.
+    arch="$(dpkg --print-architecture)" && \
+    echo "Detected architecture: ${arch}" && \
+    if [ "${arch}" = "amd64" ]; then \
+      echo "Installing Mapviz packages on x86…" && \
+      apt install -y \
+        ros-jazzy-mapviz \
+        ros-jazzy-mapviz-plugins \
+        ros-jazzy-tile-map ; \
+    else \
+      echo "Skipping Mapviz packages on ${arch}" ; \
+    fi && \
+    \
+    # Clean up apt cache.
+    rm -rf /var/lib/apt/lists/*
 
-# # Install Python packages
-# RUN pip3 install --no-cache-dir --break-system-packages \
-#     scikit-learn \
-#     opencv-python \
-#     matplotlib \
-#     pandas \
-#     ipython \
-#     tqdm
-
-# Add Build Arguments for UID and GID
-ARG USER_NAME=ubuntu
+# Build arguments for the new user.
+ARG USER_NAME=dev
 ARG USER_ID=1000
 ARG GROUP_ID=1000
 
-# Create a group with the same GID as the host
-RUN groupadd --gid ${GROUP_ID} ${USER_NAME} || echo "Group ${USER_NAME} already exists"
-
-# Create a user with the specified UID and GID
-RUN useradd --uid ${USER_ID} --gid ${GROUP_ID} --shell /bin/bash --create-home ${USER_NAME}
-
-# **Add passwordless sudo for devuser**
-RUN echo "${USER_NAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USER_NAME} && \
+# Create a new group and user with the specified UID/GID, and grant passwordless sudo.
+RUN groupadd --gid ${GROUP_ID} ${USER_NAME} || echo "Group ${USER_NAME} already exists" && \
+    useradd --uid ${USER_ID} --gid ${GROUP_ID} --shell /bin/bash --create-home ${USER_NAME} && \
+    echo "${USER_NAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USER_NAME} && \
     chmod 0440 /etc/sudoers.d/${USER_NAME}
 
-# Switch to the non-root user
+# As root, add global shell configuration for color support to /etc/bash.bashrc.
+USER root
+RUN echo "alias ls='ls --color=auto'" >> /etc/bash.bashrc && \
+    echo "export PS1='\[\e[0;32m\]\u@\h:\w\$ \[\e[m\]'" >> /etc/bash.bashrc
+
+# Switch to the new "dev" user.
 USER ${USER_NAME}
 
-# Make sure new shells source ROS setup
-RUN echo "source /opt/ros/iron/setup.bash" >> /home/${USER_NAME}/.bashrc
+# Add the ROS environment setup to the dev user's .bashrc.
+RUN echo "source /opt/ros/jazzy/setup.bash" >> /home/${USER_NAME}/.bashrc
 
-# Add /home/${USER_NAME}/.local/bin to PATH
+# Ensure the user's local bin is in PATH.
 ENV PATH=/home/${USER_NAME}/.local/bin:${PATH}
 
-# Set DISPLAY variable
-ENV DISPLAY=:0
+# Set DISPLAY for X11 forwarding.
+ENV DISPLAY=:0

.devcontainer/devcontainer.json

@@ -1,15 +1,16 @@
 // .devcontainer/devcontainer.json
 {
-    "name": "ROS2 Dev Container",
-    "dockerComposeFile": ["../.devcontainer/docker-compose.yaml"],
-    "service": "app",
-    "workspaceFolder": "/home/dev/",
-    "extensions": [
-      "ms-python.python",
-      "ms-toolsai.jupyter"
-    ],
-    "settings": {
-      "python.pythonPath": "/usr/bin/python3"
-    },
-    "remoteUser": "ubuntu"
-}
+  "name": "ROS2 Dev Container",
+  "dockerComposeFile": ["../.devcontainer/docker-compose.yaml"],
+  "service": "app",
+  "workspaceFolder": "/home/dev/ros_ws",
+  "extensions": [
+    "ms-python.python",
+    "ms-toolsai.jupyter"
+  ],
+  "settings": {
+    "python.pythonPath": "/usr/bin/python3"
+  },
+  "remoteUser": "dev",
+  "updateRemoteUserUID": false
+}

.devcontainer/docker-compose.yaml

@@ -4,15 +4,15 @@ services:
       context: .
       dockerfile: Dockerfile
       args:
-        USER_NAME: "${USER_NAME}"
+        USER_NAME: "dev"
         USER_ID: "${HOST_UID}"
         GROUP_ID: "${HOST_GID}"
-        BASE_IMAGE: "osrf/ros:iron-desktop"
+        BASE_IMAGE: "ros:jazzy-perception"
     container_name: ros2_dev_container
     volumes:
-      - ..:/home/dev/
+      - ..:/home/dev/ros_ws
       - /tmp/.X11-unix:/tmp/.X11-unix  # Mount X11 socket
-    working_dir: /home/dev/
+    working_dir: /home/dev/ros_ws
     environment:
       - DISPLAY=${DISPLAY}  # Pass the DISPLAY variable
     #   - NVIDIA_VISIBLE_DEVICES=all

README.md

@@ -4,8 +4,8 @@
 
 ## Step 1: Set up workspace
 ### Environment
-1. Ubuntu 20.04 LTS
-2. ROS Version: ROS2 Iron
+1. Ubuntu 24.04 LTS
+2. ROS Version: ROS2 Jazzy
 
 ### ROS Packages
 The following ROS packages are required for this project:
@@ -59,8 +59,8 @@ converter:
 ## Step 3: Build ROS2 workspace
 Build the ROS2 workspace.
 ```
-source /opt/ros/iron/setup.bash
-colcon build
+source /opt/ros/jazzy/setup.bash
+colcon build --cmake-args -DBUILD_TESTING=OFF
 ```
 
 
@@ -98,22 +98,27 @@ can0 311 [8] 00 00 25 C6 FF FF F0 A4
 
 In terminal 1, run these commands to start the base node for the Scout robot:
 ```
-source /opt/ros/iron/setup.bash && source install/setup.bash
+source /opt/ros/jazzy/setup.bash && source install/setup.bash
 ros2 launch scout_base scout_mini_base.launch.py
 ```
 
 In terminal 2, run these commands to start the keyboard-based controller:
 ```
-source /opt/ros/iron/setup.bash
+source /opt/ros/jazzy/setup.bash
 ros2 run teleop_twist_keyboard teleop_twist_keyboard
 ```
 
 ## Step 6: Start GPS Waypoint Following
 Launch the ROS nodes in the following order:
 ```
 ros2 launch scout_base scout_mini_base.launch.py
-ros2 launch fixposition_driver_ros2 node.launch
-ros2 launch nav2_tutorial gps_waypoint_follower.launch.py use_mapviz:=True
+ros2 launch nav2_tutorial fp_driver_node.launch config:=fp_driver_config.yaml
+ros2 launch nav2_tutorial gps_waypoint_follower.launch.py
+```
+
+For launching the graphical interface, you can run the following command (note that this only works on x86/amd64 devices):
+```
+ros2 launch nav2_tutorial mapviz.launch.py
 ```
 
 Finally, start the navigation. There are two types waypoint following methods. We can only choose one method each time we execute it.
@@ -127,10 +132,10 @@ ros2 run nav2_tutorial interactive_waypoint_follower
 
 First, the user must populate the predefined gps_waypoints.yaml file with the waypoints the robot has to follow. The user can either provide the waypoints manually or use the provided waypoint logging tool as shown below:
 ```
-ros2 run nav2_tutorial gps_waypoint_logger
+ros2 run nav2_tutorial gps_waypoint_logger /path/to/file
 ```
 
 Then, call the logged_waypoint_follower script to make the robot follow the logged waypoints.
 ```
-ros2 run nav2_tutorial logged_waypoint_follower ~/gps_waypoints.yaml
+ros2 run nav2_tutorial logged_waypoint_follower /path/to/file
 ```

src/nav2_tutorial/config/fp_driver_config.yaml

@@ -0,0 +1,72 @@
+/**:
+    ros__parameters:
+        # Connection to the sensor one of:
+        # - Serial (<device>:<baudrate>)
+        # stream: serial:///dev/ttyUSB0:115200
+        # - TCP client (<ip_address>:<port>)
+        stream: tcpcli://10.0.2.1:21000
+        # Wait time in [s] to attempt reconnecting after connection lost
+        reconnect_delay: 5.0
+        # Delay warning threshold [s]. Note that this only works if your system time is synced to the VRTK2. This must be a float.
+        delay_warning: 0.03
+
+        # Messages that should be used by the driver. Note that the sensor must be configured accordingly for the correct
+        # port used in the "connection" above.
+        messages:
+            ##### Fusion output
+            # - Odometry and status
+            - "FP_A-ODOMETRY"          # configuration: FP_A-ODOMETRY
+            - "FP_A-ODOMENU"           # configuration: FP_A-ODOMENU
+            - "FP_A-ODOMSH"            # configuration: FP_A-ODOMSH
+            - "FP_A-ODOMSTATUS"        # configuration: FP_A-ODOMSTATUS
+            - "FP_A-IMUBIAS"           # configuration: FP_A-IMUBIAS
+            - "FP_A-EOE"               # configuration: FP_A-EOE_FUSION and FP_A-EOE_<epoch>
+            # - Transforms
+            - "FP_A-TF"                # configuration: FP_A-TF_{POIIMUH,VRTKCAM,POIVRTK,ECEFENU0,POIPOISH}
+            # - IMU data
+            - "FP_A-RAWIMU"            # configuration: FP_A-RAWIMU
+            - "FP_A-CORRIMU"           # configuration: FP_A-CORRIMU
+            # - LLH output
+            - "FP_A-LLH"               # configuration: FP_A-LLH
+            # - NOV_B
+            - "NOV_B-INSPVAX"          # configuration: NOV_B-INSPVAX
+            ##### Info messages
+            - "FP_A-TEXT"              # configuration: FP_A-TEXT_{ERROR,WARNING,INFO,DEBUG} (one or more)
+            ##### GNSS related data
+            - "FP_A-GNSSANT"           # configuration: FP_A-GNSSANT
+            - "FP_A-GNSSCORR"          # configuration: FP_A-GNSSCORR
+            - "FP_A-TP"                # configuration: FP_A-TP
+            ##### NMEA (see also nmea_epoch param below)
+            - "GGA"                    # configuration: NMEA-GN-GGA_<epoch> (or NMEA-GP-GGA_<epoch>)
+            - "GLL"                    # configuration: NMEA-GN-GLL_<epoch> (or NMEA-GP-GLL_<epoch>)
+            - "GSA"                    # configuration: NMEA-GN-GSA_<epoch>
+            - "GST"                    # configuration: NMEA-GN-GST_<epoch> (or NMEA-GP-GST_<epoch>)
+            - "GSV"                    # configuration: NMEA-GX-GSV_<epoch>
+            - "HDT"                    # configuration: NMEA-GN-HDT_<epoch> (or NMEA-GP-HDT_<epoch>)
+            - "RMC"                    # configuration: NMEA-GN-RMC_<epoch> (or NMEA-GP-RMC_<epoch>)
+            - "VTG"                    # configuration: NMEA-GN-VTG_<epoch> (or NMEA-GP-VTG_<epoch>)
+            - "ZDA"                    # configuration: NMEA-GN-ZDA_<epoch> (or NMEA-GP-ZDA_<epoch>)
+            ##### GNSS only position
+            - "NOV_B-BESTGNSSPOS"      # This can be one or both of the _GNSS1 and _GNSS2 variants
+
+        # Driver behaviour
+        fusion_epoch: true     # Enable fusion epoch output
+        nmea_epoch:   "GNSS"   # Choice for NMEA collection, must match NMEA message configuration type (<epoch> above), "" to disable
+        raw_output:   false    # Enable raw messages output
+        cov_warning:  false    # Enable covariance warnings
+        nav2_mode:    true    # Enable nav2 mode
+
+        converter:
+            enabled: true
+            topic_type: "Odometry"        # Supported types: nav_msgs/{Twist, TwistWithCov, Odometry}
+            input_topic: "/odom" # Input topic name
+            scale_factor: 1000.0       # To convert from the original unit of measurement to mm/s (note: this must be a float!)
+            use_x: true                # Transmit the x axis of the input velocity
+            use_y: false               # Transmit the y axis of the input velocity
+            use_z: false               # Transmit the z axis of the input velocity
+
+        # Node parameters
+        output_ns:   "/fixposition"              # Namespace for output topics, leave empty to use node namespace
+        speed_topic: "/fixposition/speed"        # Wheelspeed input, empty to disable
+        corr_topic:  "/rtcm"                     # Correction data input, empty to disable
+        qos_type:    "default_long"              # "sensor_short", "sensor_long", "default_short", "default_long"

src/nav2_tutorial/config/gps_waypoints.yaml

@@ -0,0 +1,13 @@
+waypoints:
+- latitude: 47.40006353779471
+  longitude: 8.45033844082197
+  yaw: 0.17418822200497155
+- latitude: 47.40003329651371
+  longitude: 8.450346118930105
+  yaw: 0.00957535866359162
+- latitude: 47.40004876050602
+  longitude: 8.450407298343837
+  yaw: 0.0076037629009358025
+- latitude: 47.40007840701886
+  longitude: 8.450400027239562
+  yaw: -0.0017132506239294317