Move build tooling from Humble to Jazzy

.github/workflows/ci.yaml

@@ -8,7 +8,7 @@ on:
   # Run when a commit is pushed to main
   push:
     branches:
-      - humble
+      - jazzy-picknik
 
 permissions:
   # Allow reading the source code
@@ -19,7 +19,7 @@ permissions:
 jobs:
   build-ws:
     name: Build colcon workspace
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout source
         uses: actions/checkout@v4
@@ -54,14 +54,14 @@ jobs:
     needs:
       # Ensure the test job runs after the build job finishes instead of attempting to run in parallel
       - build-ws
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     container:
       # Run on the Docker image we tagged and pushed to a private repo in the job above
       image: ghcr.io/picknikrobotics/fuse:${{ github.run_id }}
     steps:
       - name: Unit test workspace
         run: |
-          . /opt/ros/humble/setup.sh
+          . /opt/ros/jazzy/setup.sh
           . /colcon_ws/install/local_setup.sh
           colcon test --event-handlers console_direct+ --packages-select-regex fuse*
         working-directory: /colcon_ws
@@ -74,12 +74,12 @@ jobs:
         working-directory: /colcon_ws
 
   clang_tidy:
-    if: github.ref != 'refs/heads/humble'
+    if: github.ref != 'refs/heads/jazzy-picknik'
     needs:
       # Ensure the test job runs after the build job finishes instead of attempting to run in parallel
       - build-ws
     name: clang-tidy
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     container:
       # Run on the Docker image we tagged and pushed to a private repo in the job above
       image: ghcr.io/picknikrobotics/fuse:${{ github.run_id }}

.github/workflows/pre-commit.yaml

@@ -7,17 +7,17 @@ on:
   pull_request:
   push:
     branches:
-      - humble
+      - jazzy-picknik
 
 jobs:
   pre-commit:
     name: Format
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
       - uses: pre-commit/action@v3.0.1
         id: precommit
       - name: Upload pre-commit changes

Dockerfile

@@ -1,6 +1,6 @@
 # Docker setup that's used for CI.
 
-FROM osrf/ros:humble-desktop-full
+FROM osrf/ros:jazzy-desktop-full
 
 SHELL ["/bin/bash", "-c"]
 
@@ -13,7 +13,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
       clang-tidy \
       python3-vcstool \
       # use cyclonedds instead of fastdds
-      ros-humble-rmw-cyclonedds-cpp
+      ros-jazzy-rmw-cyclonedds-cpp
 
 # Create the colcon ws. For now, copy the source files into the workspace
 # so that we don't have to deal with cloning this repo, which is private.
@@ -24,7 +24,7 @@ WORKDIR /colcon_ws
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
     apt-get update && apt-get upgrade -y && \
-    . /opt/ros/humble/setup.sh && \
+    . /opt/ros/jazzy/setup.sh && \
     rosdep install --from-paths src -y --ignore-src && \
     # tf2_2d testing build fails due to upstream tf2 changes, it seems
     colcon build --mixin compile-commands coverage-gcc coverage-pytest

README.md

@@ -2,7 +2,7 @@
 
 Welcome to PickNik Robotics's fork of fuse!
 
-This branch is for ROS Humble.
+This branch is for ROS Jazzy.
 
 ## Getting Started
 

entrypoint.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
 
 if [ -f /colcon_ws/install/local_setup.bash ]
 then

fuse_core/include/fuse_core/graph.hpp

@@ -50,7 +50,7 @@
 // As a workaround, include the add_const.hpp header before any_range.hpp or any_iterator.hpp
 #include <boost/version.hpp>
 #if BOOST_VERSION >= 108800 && BOOST_VERSION < 109100
-  #include <boost/type_traits/add_const.hpp>
+#include <boost/type_traits/add_const.hpp>
 #endif
 #include <boost/range/any_range.hpp>
 #include <boost/serialization/access.hpp>

fuse_core/include/fuse_core/message_buffer.hpp

@@ -41,7 +41,7 @@
 // As a workaround, include the add_const.hpp header before any_range.hpp or any_iterator.hpp
 #include <boost/version.hpp>
 #if BOOST_VERSION >= 108800 && BOOST_VERSION < 109100
-  #include <boost/type_traits/add_const.hpp>
+#include <boost/type_traits/add_const.hpp>
 #endif
 #include <boost/range/any_range.hpp>
 #include <fuse_core/fuse_macros.hpp>

fuse_core/include/fuse_core/timestamp_manager.hpp

@@ -42,7 +42,7 @@
 // As a workaround, include the add_const.hpp header before any_range.hpp or any_iterator.hpp
 #include <boost/version.hpp>
 #if BOOST_VERSION >= 108800 && BOOST_VERSION < 109100
-  #include <boost/type_traits/add_const.hpp>
+#include <boost/type_traits/add_const.hpp>
 #endif
 #include <boost/range/any_range.hpp>
 #include <fuse_core/constraint.hpp>

fuse_core/include/fuse_core/transaction.hpp

@@ -44,7 +44,7 @@
 // As a workaround, include the add_const.hpp header before any_range.hpp or any_iterator.hpp
 #include <boost/version.hpp>
 #if BOOST_VERSION >= 108800 && BOOST_VERSION < 109100
-  #include <boost/type_traits/add_const.hpp>
+#include <boost/type_traits/add_const.hpp>
 #endif
 #include <boost/range/any_range.hpp>
 #include <boost/serialization/access.hpp>

fuse_variables/test/test_load_device_id.cpp

@@ -70,49 +70,49 @@ TEST_F(TestLoadDeviceId, LoadDeviceId)
   {
     auto node = rclcpp::Node::make_shared("id1_node");
     node->declare_parameter("device_id", std::string("01234567-89AB-CDEF-0123-456789ABCDEF"));
-    fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
-    fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF,
-                                   0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF } };
+    const fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
+    const fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF, 0x01, 0x23, 0x45, 0x67, 0x89,
+                                         0xAB, 0xCD, 0xEF } };
     EXPECT_EQ(expected, actual);
   }
   {
     auto node = rclcpp::Node::make_shared("id2_node");
     node->declare_parameter("device_id", std::string("01234567-89ab-cdef-0123-456789abcdef"));
-    fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
-    fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF,
-                                   0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF } };
+    const fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
+    const fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF, 0x01, 0x23, 0x45, 0x67, 0x89,
+                                         0xAB, 0xCD, 0xEF } };
     EXPECT_EQ(expected, actual);
   }
   {
     auto node = rclcpp::Node::make_shared("id3_node");
     node->declare_parameter("device_id", std::string("0123456789ABCDEF0123456789ABCDEF"));
-    fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
-    fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF,
-                                   0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF } };
+    const fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
+    const fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF, 0x01, 0x23, 0x45, 0x67, 0x89,
+                                         0xAB, 0xCD, 0xEF } };
     EXPECT_EQ(expected, actual);
   }
   {
     auto node = rclcpp::Node::make_shared("id4_node");
     node->declare_parameter("device_id", std::string("0123456789abcdef0123456789abcdef"));
-    fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
-    fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF,
-                                   0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF } };
+    const fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
+    const fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF, 0x01, 0x23, 0x45, 0x67, 0x89,
+                                         0xAB, 0xCD, 0xEF } };
     EXPECT_EQ(expected, actual);
   }
   {
     auto node = rclcpp::Node::make_shared("id5_node");
     node->declare_parameter("device_id", std::string("{01234567-89ab-cdef-0123-456789abcdef}"));
-    fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
-    fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF,
-                                   0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF } };
+    const fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
+    const fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF, 0x01, 0x23, 0x45, 0x67, 0x89,
+                                         0xAB, 0xCD, 0xEF } };
     EXPECT_EQ(expected, actual);
   }
   {
     auto node = rclcpp::Node::make_shared("id6_node");
     node->declare_parameter("device_id", std::string("{01234567-89AB-CDEF-0123-456789ABCDEF}"));
-    fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
-    fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF,
-                                   0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF } };
+    const fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
+    const fuse_core::UUID expected = { { 0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF, 0x01, 0x23, 0x45, 0x67, 0x89,
+                                         0xAB, 0xCD, 0xEF } };
     EXPECT_EQ(expected, actual);
   }
   {
@@ -123,16 +123,16 @@ TEST_F(TestLoadDeviceId, LoadDeviceId)
   {
     auto node = rclcpp::Node::make_shared("name_node");
     node->declare_parameter("device_name", std::string("Test"));
-    fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
-    fuse_core::UUID expected = { { 0x5B, 0x23, 0x43, 0x6D, 0x8E, 0x7C, 0x51, 0xCF,
-                                   0x81, 0x62, 0x5C, 0xD5, 0xFD, 0x37, 0x9E, 0xCF } };
+    const fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
+    const fuse_core::UUID expected = { { 0x5B, 0x23, 0x43, 0x6D, 0x8E, 0x7C, 0x51, 0xCF, 0x81, 0x62, 0x5C, 0xD5, 0xFD,
+                                         0x37, 0x9E, 0xCF } };
     EXPECT_EQ(expected, actual);
   }
   {
     auto node = rclcpp::Node::make_shared("none_node");
     node->declare_parameter("some_other_parameter", 1);
-    fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
-    fuse_core::UUID expected = fuse_core::uuid::NIL;
+    const fuse_core::UUID actual = fuse_variables::loadDeviceId(*node);
+    const fuse_core::UUID expected = fuse_core::uuid::NIL;
     EXPECT_EQ(expected, actual);
   }
 }
@@ -142,7 +142,7 @@ int main(int argc, char** argv)
 {
   rclcpp::init(argc, argv);
   testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
+  int const ret = RUN_ALL_TESTS();
   rclcpp::shutdown();
   return ret;
 }