Kitware · romleiaj · Jul 2, 2026 · Jul 2, 2026 · Jul 2, 2026 · Jul 2, 2026
diff --git a/compose/cam_ir.yml b/compose/cam_ir.yml
@@ -7,8 +7,8 @@ services:
     init: true
     tty: true
     environment:
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
-      ROS_DISTRO: "noetic"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
+      ROS_DISTRO: "jazzy"
       REDIS_HOST: "${REDIS_HOST}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       CAM_MODE: "ir"

diff --git a/compose/cam_param_monitor.yml b/compose/cam_param_monitor.yml
@@ -7,7 +7,7 @@ services:
     init: true
     tty: true
     environment:
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       REDIS_HOST: "${REDIS_HOST}"
       SYSTEM_NAME: "${SYSTEM_NAME}"

diff --git a/compose/cam_rgb.yml b/compose/cam_rgb.yml
@@ -8,8 +8,8 @@ services:
     init: true
     tty: true
     environment:
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
-      ROS_DISTRO: "noetic"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
+      ROS_DISTRO: "jazzy"
       REDIS_HOST: "${REDIS_HOST}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       CAM_MODE: "rgb"

diff --git a/compose/cam_uv.yml b/compose/cam_uv.yml
@@ -8,9 +8,9 @@ services:
     init: true
     tty: true
     environment:
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       REDIS_HOST: "${REDIS_HOST}"
-      ROS_DISTRO: "noetic"
+      ROS_DISTRO: "jazzy"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       CAM_MODE: "uv"
       CAM_FOV: "${CAM_FOV}"

diff --git a/compose/roscore.yml → compose/core_init.yml b/compose/roscore.yml → compose/core_init.yml
@@ -1,15 +1,15 @@
 ---
-## Bring up the core nodes
+## Seed Redis with the static system config (formerly also ran roscore)
 services:
   ## =========================== headless nodes =============================
-  roscore:
-    container_name: roscore
+  core_init:
+    container_name: core_init
     image: ${KAMERA_CORE_IMAGE}
     init: true
     tty: true
     network_mode: host
     environment:
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       DATA_MOUNT_POINT: "${DATA_MOUNT_POINT}"
       SPOOF_RATE: "${SPOOF_RATE}"
       REDIS_HOST: "${REDIS_HOST}"
@@ -21,7 +21,7 @@ services:
     volumes:
       - "/mnt:/mnt"
       - "${PWD}/src:${DOCKER_KAMERA_DIR}/src:ro"
-    command: ["/entry/master.sh"]
+    command: ["/entry/core_init.sh"]
     restart: no
 ...
 
diff --git a/compose/daq.yml b/compose/daq.yml
@@ -10,7 +10,7 @@ services:
       - "${MCC_DAQ}:${MCC_DAQ}"
     environment:
       REDIS_HOST: "${REDIS_HOST}"
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       MCC_DAQ: "${MCC_DAQ}"
       SYSTEM_NAME: "${SYSTEM_NAME}"

diff --git a/compose/detector.yml b/compose/detector.yml
@@ -11,7 +11,7 @@ services:
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME:-}"
       PRODUCER_HOST: "${PRODUCER_HOST:-}"
       DATA_MOUNT_POINT: "${DATA_MOUNT_POINT}"

diff --git a/compose/fps_monitor.yml b/compose/fps_monitor.yml
@@ -7,7 +7,7 @@ services:
     init: true
     tty: true
     environment:
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       REDIS_HOST: "${REDIS_HOST}"
       SYSTEM_NAME: "${SYSTEM_NAME}"

diff --git a/compose/gui.yml b/compose/gui.yml
@@ -9,9 +9,7 @@ services:
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
-      ROS_IP: "${ROS_IP:-}"
-      ROS_HOSTNAME: "${ROS_HOSTNAME:-}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       DATA_MOUNT_POINT: "${DATA_MOUNT_POINT}"
       GUI_CFG_DIR: "${GUI_CFG_DIR}"
       DISPLAY: "${DISPLAY}"

diff --git a/compose/image_manager.yml b/compose/image_manager.yml
@@ -9,7 +9,7 @@ services:
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       SYSTEM_NAME: "${SYSTEM_NAME}"
     dns:

diff --git a/compose/imageview.yml b/compose/imageview.yml
@@ -7,7 +7,7 @@ services:
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       CAM_FOV: "${CAM_FOV}"
       DATA_MOUNT_POINT: "${DATA_MOUNT_POINT}"

diff --git a/compose/ins.yml b/compose/ins.yml
@@ -10,7 +10,7 @@ services:
       - "${PULSE_TTY}:${PULSE_TTY}"
     environment:
       REDIS_HOST: "${REDIS_HOST}"
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       ALLOW_SERIAL_INS_SPOOF: "${ALLOW_SERIAL_INS_SPOOF}"
       SPOOF_INS: "${SPOOF_INS}"

diff --git a/compose/nodelist.yml b/compose/nodelist.yml
@@ -9,7 +9,7 @@ services:
     tty: true
     network_mode: host
     environment:
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       DATA_MOUNT_POINT: "${DATA_MOUNT_POINT}"
     volumes:
       - "${PWD}/src:${DOCKER_KAMERA_DIR}/src:ro"

diff --git a/compose/shapefile_monitor.yml b/compose/shapefile_monitor.yml
@@ -8,7 +8,7 @@ services:
     tty: true
     environment:
       REDIS_HOST: "${REDIS_HOST}"
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       DOCKER_KAMERA_DIR: "${DOCKER_KAMERA_DIR}"
       SYSTEM_NAME: "${SYSTEM_NAME}"

diff --git a/compose/spoof_events.yml b/compose/spoof_events.yml
@@ -9,7 +9,7 @@ services:
     devices:
       - "${PULSE_TTY}:${PULSE_TTY}"
     environment:
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME}"
       DATA_MOUNT_POINT: "${DATA_MOUNT_POINT}"
       SYSTEM_NAME: "${SYSTEM_NAME}"

diff --git a/compose/sync_msg_publisher.yml b/compose/sync_msg_publisher.yml
@@ -7,7 +7,7 @@ services:
     init: true
     tty: true
     environment:
-      ROS_MASTER_URI: "${ROS_MASTER_URI}"
+      ROS_DOMAIN_ID: "${ROS_DOMAIN_ID:-0}"
       NODE_HOSTNAME: "${NODE_HOSTNAME:-}"
       ROS_IP: "${ROS_IP:-}"
       SATA_MOUNT_POINT: "${DATA_MOUNT_POINT}"

diff --git a/docker-compose.yml b/docker-compose.yml
@@ -125,7 +125,7 @@ services:
 
 ## ========================== GUI chain ========================================
 
-  # GUI deps layered on the Noetic core-deps image.
+  # GUI deps layered on the Jazzy core-deps image.
   gui-deps:
     build:
       context: .

diff --git a/docker/base/core-deps.dockerfile b/docker/base/core-deps.dockerfile
@@ -1,24 +1,14 @@
 FROM kamera/base/core-ros:latest
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
-        ros-noetic-compressed-image-transport \
-        ros-noetic-camera-info-manager \
-        ros-noetic-image-view \
-        ros-noetic-cv-bridge \
-        ros-noetic-nodelet \
-        ros-noetic-nodelet-topic-tools \
-        ros-noetic-vision-opencv \
-        ros-noetic-diagnostic-updater \
-        ros-noetic-self-test \
-        ros-noetic-polled-camera \
-        ros-noetic-message-generation \
-        ros-noetic-message-runtime \
-        libgtkmm-2.4-1v5 \
-        libglademm-2.4-1v5 \
-        libgtkglextmm-x11-1.2-dev \
-        libgtkglextmm-x11-1.2-0v5 \
-        libglade2-dev \
-        libglademm-2.4-dev \
+        ros-jazzy-compressed-image-transport \
+        ros-jazzy-image-transport \
+        ros-jazzy-camera-info-manager \
+        ros-jazzy-camera-calibration-parsers \
+        ros-jazzy-cv-bridge \
+        ros-jazzy-vision-opencv \
+        ros-jazzy-diagnostic-updater \
+        ros-jazzy-rosidl-default-generators \
     && rm -rf /var/lib/apt/lists/*
 
 ## build deps
@@ -40,7 +30,7 @@ RUN apt-get update -q && apt-get install --no-install-recommends -y \
             usbutils \
     && rm -rf /var/lib/apt/lists/*
 
-RUN     pip install --no-cache-dir \
+RUN     pip install --break-system-packages --no-cache-dir \
             pyserial \
             osrf-pycommon \
             shapely \

diff --git a/docker/base/core-ros.dockerfile b/docker/base/core-ros.dockerfile
@@ -1,12 +1,15 @@
 # This image contains the base of the ROS/CUDA for the system, plus
 # a bunch of utility packages
-FROM nvidia/cuda:12.6.2-devel-ubuntu20.04 AS base_cuda_ubuntu
+# CUDA 13.0 = newest major with native support on the fleet's r580 drivers
+# (13.1+ would rely on minor-version compatibility on r580 hosts; every node
+# needs driver >= 580 before this image deploys).
+FROM nvidia/cuda:13.0.3-devel-ubuntu24.04 AS base_cuda_ubuntu
 
 WORKDIR /root
 # setup environment
 ENV LANG C.UTF-8
 ENV LC_ALL C.UTF-8
-ENV ROS_DISTRO noetic
+ENV ROS_DISTRO jazzy
 ENV DEBIAN_FRONTEND noninteractive
 
 # setup timezone
@@ -20,22 +23,24 @@ RUN echo 'Etc/UTC' > /etc/timezone && \
 RUN apt-get update && apt-get install -q -y --no-install-recommends \
     dirmngr \
     gnupg2 \
+    curl \
+    ca-certificates \
     && rm -rf /var/lib/apt/lists/*
 
-# setup sources.list
-RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list
-
-# setup keys
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+# setup ROS2 apt source (Jazzy runs on Ubuntu 24.04 / noble)
+RUN curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+        -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu noble main" \
+        > /etc/apt/sources.list.d/ros2-latest.list
 
 # install ros packages
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-noetic-ros-core=1.5.0-1* \
-    ros-noetic-ros-base=1.5.0-1* \
-    ros-noetic-perception=1.5.0-1* \
-    python3-catkin-tools \
+    ros-jazzy-ros-core \
+    ros-jazzy-ros-base \
+    ros-jazzy-perception \
+    python3-colcon-common-extensions \
     python3-pip \
-    ros-noetic-rqt-image-view \
+    ros-jazzy-rqt-image-view \
     && rm -rf /var/lib/apt/lists/*
 
 # ROS BUILD FINISHED
@@ -56,9 +61,6 @@ RUN     apt-get update -q && apt-get install --no-install-recommends -y \
             sqlite3 \
             python3-pip \
             python3-rosdep \
-            python3-rosinstall \
-            python3-vcstools \
-            python3-catkin-tools \
             unzip \
     &&  apt-get update -q && apt-get install --no-install-recommends -y \
             autoconf \
@@ -76,8 +78,7 @@ RUN     apt-get update -q && apt-get install --no-install-recommends -y \
 
 
 ## ipython isn't strictly required (like most things in is kitchen sink image) but it's extremely useful for debugging
-RUN     pip install --upgrade --no-cache-dir pip \
-    &&  pip install --no-cache-dir \
+RUN     pip install --break-system-packages --no-cache-dir \
             ipython \
             ipdb \
             pyserial \

diff --git a/docker/base/detector-viame-deps.dockerfile b/docker/base/detector-viame-deps.dockerfile
@@ -1,11 +1,13 @@
-# Build off the public VIAME docker build (with ITK support)
-FROM kitware/viame:gpu-algorithms-seal AS vb
+# Build off the public VIAME docker build (with ITK support).
+# The current gpu-algorithms tag is built on Ubuntu 24.04 (noble), which is
+# what Jazzy requires.
+FROM kitware/viame:gpu-algorithms AS vb
 
 WORKDIR /root
 # setup environment
 ENV LANG C.UTF-8
 ENV LC_ALL C.UTF-8
-ENV ROS_DISTRO noetic
+ENV ROS_DISTRO jazzy
 ENV DEBIAN_FRONTEND noninteractive
 
 # install packages
@@ -20,19 +22,18 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     iputils-ping \
     && rm -rf /var/lib/apt/lists/*
 
-# setup sources.list
-RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list
-
-# setup keys
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+# setup ROS2 apt source (Jazzy runs on Ubuntu 24.04 / noble)
+RUN curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+        -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu noble main" \
+        > /etc/apt/sources.list.d/ros2-latest.list
 
 # install ros packages
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-noetic-ros-core=1.5.0-1* \
-    ros-noetic-ros-base=1.5.0-1* \
-    ros-noetic-perception=1.5.0-1* \
-    python3-catkin-tools \
-    ros-noetic-rqt-image-view \
+    ros-jazzy-ros-core \
+    ros-jazzy-ros-base \
+    ros-jazzy-perception \
+    python3-colcon-common-extensions \
     && rm -rf /var/lib/apt/lists/*
 
 # Build tools necessary for catkin and roskv

diff --git a/docker/base/gui-deps.dockerfile b/docker/base/gui-deps.dockerfile
@@ -1,12 +1,14 @@
-## GUI deps layered on the Noetic core-deps chain.
+## GUI deps layered on the Jazzy core-deps chain.
 FROM kamera/base/core-deps:latest
 
+# libgl1-mesa-glx was dropped in Ubuntu 24.04; libgl1 + libglx-mesa0 replace it
 RUN apt-get update && apt-get install -y --no-install-recommends \
         gdal-bin \
         python3-gdal \
         python3-tk \
         python3-wxgtk4.0 \
-        libgl1-mesa-glx \
+        libgl1 \
+        libglx-mesa0 \
         libqt5x11extras5 \
         locales \
     && rm -rf /var/lib/apt/lists/*
@@ -18,19 +20,17 @@ ENV LANG=en_US.UTF-8 \
     LANGUAGE=en_US:en \
     LC_ALL=en_US.UTF-8
 
-RUN pip install --upgrade \
-        pip \
-        Pillow
-
-# numpy/scipy/shapely/pyshp come from core-deps; only GUI-unique deps here.
-# TODO: validate the unpinned pygeodesy already installed by core-deps and drop
-# this <19.12 downgrade (legacy Py2-era pin, untested on Py3).
-RUN pip install --no-cache-dir \
-        'PyGeodesy<19.12' \
+# numpy/scipy/shapely/pyshp/pygeodesy come from core-deps; only GUI-unique deps
+# here. The legacy 'PyGeodesy<19.12' pin is gone: the GUI uses
+# pygeodesy.geoids.GeoidPGM, which the unpinned core-deps install provides
+# (shapefile_monitor already runs against it).
+RUN pip install --break-system-packages --no-cache-dir \
+        Pillow \
         exifread \
         ipython \
         psutil \
         simplekml
 
-COPY src/core/roskv /src/roskv
-RUN pip install --no-cache-dir '/src/roskv[redis]'
+# roskv is no longer pip-installable (its setup.py was removed in the ROS2
+# port); it is built into the colcon workspace by gui.dockerfile via
+# --packages-up-to wxpython_gui, which pulls in roskv as a dependency.