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- Rename messages to ROS2-legal CamelCase: GSOF_INS->GsofIns, GSOF_EVT->GsofEvt, EVT->Evt, PASHR->Pashr - Replace removed 'time' builtin with builtin_interfaces/Time - Rename tPvErr srv field to pv_err (ROS2 requires snake_case fields) - Drop unused interfaces: ImageWithMask, POSAVX, CamControl, DiskUsage, EraseDataDisk, SetUInt - msgdispatch: publishers now require an rclpy node; fix add_publisher storing every publisher under the literal key 'name' - Replace catkin build files with ament_cmake + rosidl_default_generators; install msgdispatch via ament_python_install_package
roskv: - ament_cmake build; C++ lib was already ROS-free, now exported via modern CMake targets instead of catkin_LIBRARIES - Drop ROS1-only modules: reactor.py (relied on rosservice runtime introspection which has no ROS2 equivalent), rosparam_kv.py (global param server is gone in ROS2), and the rospy test nodes - roskv CLI and python lib are now fully ROS-independent kamcore: - Convert to ament_python; monitor scripts become console_script entry points (fps_monitor, cam_param_monitor, shapefile_monitor, seed_redis_config) - fps/cam_param/shapefile monitor nodes ported rospy -> rclpy; fps_monitor FPS math deduplicated; update loop is now a ROS timer - phase_one srv import is optional so non-PhaseOne systems (nayak, taiga prosilica RGB) don't need that package installed - Drop no-op kamcore_node.py keepalive node + kamcore.launch (existed to babysit roscore, which no longer exists) and unused diagnostics_to_influxdb.py - Launch files converted to ROS2 XML (.launch.xml)
nexus: - ArchiverBase/ArchiveManager now take an rclpy node; subscriptions, publishers, and services hang off it. Service callbacks use the ROS2 request/response signature - ROS1 global params replaced: /cfg/hosts fov lookup dropped (was unused), /system_name -> SYSTEM_NAME env, /cfg/file_formats -> /sys/arch/ext_* in Redis (matching what img_nexus already used) - msg_as_dict rewritten from genpy introspection to rosidl get_fields_and_field_types; header.seq removed (gone in ROS2) - /rawmsg error publisher created once instead of per-publish - Package becomes a pure ament_python library: dropped duplicate nexus_node/img_nexus/evt_listener/simulate_heading nodes (nayak and taiga run the copy embedded in view_server; nothing launches these) view_server: - image_view_server ported to rclpy with a MultiThreadedExecutor and reentrant callback group so blocking image requests don't starve image callbacks - Nexus sync epochs keyed on (sec, nanosec) tuples since ROS2 message stamps are unhashable; event logging keyed on event_num since header.seq no longer exists - Dropped dead sync_queue_callback2 path and unused web_server node - roskv: hash_genpy_msg -> hash_ros_msg using rclpy serialize_message
- ins_socket_driver and spoof_events become rclpy console scripts; a background executor thread services the archiver's ROS interfaces while the main thread runs the blocking GSOF socket loop - gsof.py no longer needs rospy: dispatches build builtin_interfaces Time stamps from GPS time floats; module-level rclpy logger. header.seq assignments dropped (removed in ROS2); event identity lives in event_num / the frame_id query string - Global rosparams (/data_mount_point, spoof params) were already redundant with env vars + Redis; node params reduced to ip/port/replay/retry - Drop the legacy upstream NMEA driver stack (driver.py, parser.py, nmea_class, checksum_utils, four nmea_* scripts, ins_spoof_driver, nmea.launch): nayak/taiga only ever launch ins_socket_driver, which explicitly disabled the NMEA path - Launch files converted to ROS2 XML; ament_python build
mcc_daq: - daq_node rewritten roscpp -> rclcpp: TriggerTimer/AsyncTriggerTimer/ OneShotManager now use rclcpp timers and Time/Duration; one-shot timers are wall timers cancelled+erased on fire (uint64 ids replace boost uuids, dropping the boost dependency); AsyncSpinner replaced by a MultiThreadedExecutor - ROS1-only TimerEvent replaced with a minimal local struct carrying current_real - Global params /spoof_rate & /spoof_daq (loaded via the old roscore container) replaced with the SPOOF_RATE env var; node params declared explicitly - Dropped the unused UsbDaqDummy class, the interactive chatter test node, and chatter/testusb launch files - utils.h provides rclcpp logging shims so the vendored MCC hardware code keeps its ROS_INFO-style call sites ser_daq: - ser_daq_driver ported to rclpy (ament_python console script); pulse timing uses threading.Timer instead of rospy one-shot timers; unused params/spoof plumbing removed
cam_utils (new package): - ROS2 port of phase_one's EventCache/parseParams/loadFile helpers, which both camera drivers previously compiled via a hardcoded /root/kamera/... path into the phase_one tree. EventCache::search now reports event_num explicitly since header.seq is gone in ROS2 kw_genicam_driver: - driver_a6750 rewritten roscpp -> rclcpp. Active path (EventHandler + CamParamHandler + executor) preserved; the unreachable legacy main loop after the early return, the unused rerange_temp() and the unbuilt legacy driver.cpp are deleted - Image fetch runs on a dedicated thread instead of self-rescheduling one-shot ROS timers; MultiThreadedExecutor services events/services - Watchdog/Trigger/parse helpers in utils ported to rclcpp types; ROS_* logging call sites kept via rclcpp shims - gige_scan/decode_error/genicam_ctl were already ROS-free - Launch files consolidated: flir_a6750/flir_a645 ROS2 XML launches named after the config.yaml camera model (the genicam_* duplicates are dropped)
- The 1800-line ProsilicaNodelet becomes a plain rclcpp node (prosilica_node): nodelets don't exist in ROS2 and the nodelet was always run standalone under its own manager anyway - dynamic_reconfigure replaced by node parameters applied at startup; the GainMode/GainValue launch params (previously declared but never read - auto-gain always won) now actually map onto gain settings - Dropped ROS1-only plumbing with no ROS2 equivalent or no consumers: polled_camera request_image, diagnostic_updater state reporting, self_test, the disabled view_server_nodelet, and generic/streaming launch variants - Event/image fusion now uses the shared cam_utils EventCache with explicit event_num (header.seq is gone in ROS2); frame drop accounting is keyed on event_num - Published image now gets its frame_id set before publish (the nodelet set it on the buffer copy after publishing - stale id) - libprosilica Watchdog/CvtPvTimestamp ported to rclcpp types; unused OneShotManager removed; ROS_* call sites kept via rclcpp shims - prosilica_gige_sdk vendored SDK exported as an ament imported target instead of the catkin copy hack
- kw_detector_fusion_adapter_node ported roscpp -> rclcpp: node parameters replace private-nodehandle params, background spin thread replaces the AsyncSpinner, detections publish on ~/detections_out remapped as before - Dropped sources that were never built into the node: the ros_dynamic_config / ros_detector_scaling sprokit plugins (ROS1 dynamic_reconfigure based) and netbeans project files - publish_sync_msgs / rebroadcast / save_* debug scripts left as-is; they are not launched by nayak/taiga supervisors - Launch converted to ROS2 XML
- backend becomes a plain ament metapackage depending on the ported ROS2 packages (GUI/phase_one entries removed - not part of the nayak/taiga supervisor set) - Dropped the unfinished diagnostics.py stub (copy of ins driver boilerplate that was never completed or launched) - The postproc supervisor group (flight_summary, homography, detections) runs pure bash + kamera.postflight python with no ROS dependency, so those entry points are unchanged
- compose: ROS_MASTER_URI env replaced with ROS_DOMAIN_ID everywhere; core image ROS_DISTRO noetic -> humble - tmux env.sh (nayak/taiga): drop ROS master/hostname exports; export a shared ROS_DOMAIN_ID for DDS discovery instead - The roscore supervisor program/compose service becomes core_init: with no master in ROS2 its only remaining job is seeding Redis with the static system config (ros2 run kamcore seed_redis_config) - Entry scripts: roslaunch --wait -> ros2 launch *.launch.xml with norespawn mapped to the launch respawn arg; catkin build debug rebuilds -> colcon build --packages-select; dropped the 'REQUIRED node has died' log-scrape hack (roslaunch-specific, ros2 launch propagates exit properly) - viame.sh: detection csv/image-list dirs passed via environment (pipelines read env; the old launch env-vars are gone) - rosnode_list.sh diagnostic -> ros2 node list; dev aliases updated Not touched (out of nayak/taiga supervisor scope): gui.sh, cam_phaseone.sh, postproc.sh (cas), uas tmux configs, wxpython_gui.
- ROS_DISTRO humble -> jazzy in tmux env.sh and compose camera services - cv_bridge includes moved to cv_bridge.hpp (the .h shim is deprecated since Iron) - docker: core-ros base moves to nvidia/cuda ubuntu24.04, ROS2 apt source (noble) with keyring-based signing, ros-jazzy-* packages, and colcon in place of catkin tools; pip installs use --break-system-packages for PEP-668 (24.04) pythons - core-deps: jazzy equivalents of the perception deps; dropped ROS1-only nodelet/self_test/polled_camera/message-generation debs and the gtk2-era glademm libs that no longer exist on noble - core/detector images build with colcon --packages-up-to so unported ROS1 packages (phase_one, wxpython_gui, ...) are not touched; detector-viame-deps notes the VIAME base image must be rebuilt on 24.04 to host jazzy debs - activate_ros.bash sources the colcon install/setup.bash overlay and RCUTILS log format instead of devel/setup.bash + ROSCONSOLE_FORMAT gui.dockerfile intentionally left on catkin: wxpython_gui is still ROS1 and outside the nayak/taiga supervisor scope.
The current gpu-algorithms tag is built on Ubuntu 24.04, so it can host the Jazzy debs directly - drops the stale focal-based gpu-algorithms-seal tag and the rebuild caveat.
- phase_one_standalone becomes a plain rclcpp node; services are declared with the ~/ prefix so they resolve to the same /<host>/rgb/<driver>/... names the GUI and cam_param_monitor call. The old ROS_NAMESPACE env plumbing is replaced by a launch namespace arg (cam_phaseone.sh updated to ros2 launch) - srvs (Get/SetPhaseOneParameter, Get[Compressed]ImageView) generated via rosidl; cam_param_monitor's optional phase_one import now works on ROS2 systems that install this package - Event/image matching uses the shared cam_utils EventCache with explicit event_num (header.seq removed in ROS2); the debayer-queue seq map and save_every_x modulo now key on event_num - Dropped the nodelet variants (phase_one_nodelet, view_server_nodelet, phase_one_node loader) and the local phase_one_utils copy replaced by cam_utils; boost::filesystem -> std::filesystem - backend metapackage depends on phase_one again
- New wxpython_gui.rosnode module owns a single rclpy node serviced by
a background MultiThreadedExecutor thread, exposing the imperative
surface the wx GUI needs: Subscriber, a synchronous ServiceProxy
(call_async + wait, raising ServiceException on unavailable/timeout,
matching the rospy semantics every call site already handles), Rate,
logging, and stamp_to_sec
- gui.py / UpdateImageThread.py call sites moved from rospy to rosnode;
GSOF_INS -> GsofIns; header.stamp.to_sec() -> stamp_to_sec();
Subscriber.unregister -> destroy_subscription; clean rclpy shutdown
wired into the window-close handler
- The single rospy.set_param('/sys/arch/is_archiving') becomes a Redis
kv.put - there is no global param server in ROS2 and every consumer
already reads that key from Redis
- cfg.py/utils.py drop now-unused rospy imports (ros_immediate was dead)
- Package converted to ament_python with a system_control_panel console
script (node script moved into the package); launch converted to ROS2
XML; stale .pyc files dropped from the repo
- gui.sh launches via ros2 launch and checks ROS_DOMAIN_ID instead of
ROS_MASTER_URI; start_gui.sh no longer spawns a local roscore;
gui.dockerfile builds with colcon --packages-up-to wxpython_gui
ins_driver (base image must be Jazzy, tracked with the gui-deps image)
- sysinfo: syscall service node -> rclpy console script (ament_python); syscall.sh uses ros2 launch - kamerahealth: missed_frame_node and exit_code_node -> rclpy (ament_python); health_node.py deleted - it was a byte-for-byte copy of sysinfo's syscall node, never a health check - testbed: test_roskv exerciser -> rclcpp/ament - sensor_simulator: camera/INS simulators -> rclpy console scripts; GSOF_INS -> GsofIns, genpy stamps -> builtin_interfaces - sprokit_adapters debug scripts (publish_sync_msgs, rebroadcast, save_images/chips) and kw_genicam display_latency -> rclpy; scripts now installed by the package - bag_file_explode: rosbag_to_png rewritten on the 'rosbags' pip library, which reads the legacy ROS1 .bag archives this tool exists for (plus ROS2 bags) with no ROS1 install; drops the py2-era multiprocessing time-slicing for a straightforward sequential read - Deleted kwiver_ros_param_interface and rqt_sprokit_adapter: both were already CATKIN_IGNOREd (disabled even under ROS1) and are built on ROS1-only mechanisms (global param server, dynamic_reconfigure rqt) with no ROS2 equivalent or consumer - Entry/dev scripts: spoofins/publish_sync_msgs/healthcheck/health_cam -> ros2 equivalents; wat.sh rewritten around ros2 doctor (no master to hunt for); aliases.sh dev shortcuts -> ros2/colcon; deleted debay.sh and ros2jaeger.sh (referenced packages that do not exist in the repo) and EXPORT_ROS_MASTER.sh
check_system/setup_kamera_env/basic-aliases/aliases setmaster helper, prosilica test_homography, genicam run_simple_driver (now points at the installed a6750 node via ros2 pkg prefix), and the uas tmux env all move to ROS_DOMAIN_ID / ros2 CLI equivalents. Remaining grep hits for rospy/catkin in the tree are comments and docstrings only.
- libgl1-mesa-glx no longer exists on noble; use libgl1 + libglx-mesa0 - pip installs use --break-system-packages (PEP 668) and drop the pip self-upgrade; Pillow folded into the single install layer - Drop the legacy 'PyGeodesy<19.12' pin (py2-era, untested on py3): the GUI uses pygeodesy.geoids.GeoidPGM, which the unpinned core-deps install provides and shapefile_monitor already runs against - Drop the pip install of roskv: its setup.py was removed in the ROS2 port, and gui.dockerfile's colcon --packages-up-to wxpython_gui builds roskv into the workspace overlay instead
The two lineinfile tasks matched on exact line text, so any change to mount options or disk UUID appended a new fstab variant instead of replacing the old one; deployed systems accumulated stale entries (cas3 carries three generations of /mnt/data lines, including a literal by-uuid/TODO from hosts.yml's placeholder ssd_id). Key each entry on its mount point with a regexp so changes replace in place. Verified against a container seeded with cas3's exact fstab: first pass rewrites stale variants in situ, repeat passes are no-ops. lineinfile only replaces the last match, so pre-existing duplicates on deployed boxes still need a one-time manual cleanup.
Ubuntu 24.04 stays; CUDA moves to the newest major release. 13.0 is the ceiling for native driver support across the machines we can verify (dev box runs the r580 branch; 13.1+ would lean on CUDA minor-version compatibility there). The Phase One ImageSDKCuda ships no hard-linked CUDA sonames (runtime probe via IsCudaSupported), so the major bump is safe for it. Deployment prerequisite: every node needs NVIDIA driver >= 580 before this image lands; aircraft systems should be checked before rollout. The VIAME detector image is unaffected (separate CUDA 12.6 base from kitware/viame).
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