Imported upstream version '1.0.5' of 'upstream'

.github/ISSUE_TEMPLATE/1-bug.yml

@@ -30,7 +30,6 @@ body:
         - Select One
         - Galactic
         - Humble
-        - Jazzy
     validations:
       required: true
   - type: dropdown
@@ -53,7 +52,6 @@ body:
         - Select One
         - Ubuntu 20.04
         - Ubuntu 22.04
-        - Ubuntu 24.04
         - Other Linux
         - Windows / MAC
     validations:

.github/workflows/ci.yml

@@ -3,20 +3,11 @@ name: turtlebot4_setup_ci
 on: [push, pull_request]
 
 jobs:
-  turtlebot4_jazzy_ci:
-    name: Jazzy
-    runs-on: ubuntu-24.04
+  turtlebot4_humble_ci:
+    name: Humble
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/[email protected]
-      - uses: ros-tooling/setup-ros@v0.7
+      - uses: ros-tooling/setup-ros@v0.3
         with:
-          required-ros-distributions: jazzy
-          use-ros2-testing: true
-      - uses: ros-tooling/[email protected]
-        id: action_ros_ci_step
-        with:
-          target-ros2-distro: jazzy
-          import-token: ${{ secrets.GITHUB_TOKEN }}
-          skip-tests: false
-          package-name:
-            turtlebot4_setup
+          required-ros-distributions: humble

CHANGELOG.rst

@@ -2,53 +2,11 @@
 Changelog for package turtlebot4_setup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.0.2 (2024-10-23)
+1.0.5 (2025-01-14)
 ------------------
-* Add e2fsck to SD-flasher script
-* Bump default version numbers
-* Fix default hostname to match released SD card images
-* Append `p2` for `mmcblk` devices, but just `2` for `sd*` devices when expanding the last partition
-* Contributors: Chris Iverach-Brereton
-
-2.0.1 (2024-10-04)
-------------------
-* Add a copy of the boot/firmware files to /etc/turtlebot for reference in case users modify these and want a clean, offline copy for reference
-* Add ROBOT_SETUP to setup.bash
-* Add growpart & resize2fs commands to the SD card-flashing script to expand the partition to use up the whole SD card
-* Add socat as a package dependency instead of an ad-hoc post-install package
-* Add MOTD file with the Turtlebot4 logotype
-* Contributors: Chris Iverach-Brereton
-
-2.0.0 (2024-09-28)
-------------------
-* Initial Jazzy implementation
-  * Add a note about firmware compatibility to the readme
-  * Add exception handling to the file i/o so the node doesn't just crash if we're missing a file
-  * Add improved exception handling to the wifi settings parser
-  * Update CI
-  * Properly escape all `\` characters in stylized titles, add translation & link to generator page in comments
-  * Add copyright & contribution notices, fix up code formatting, import ordering. Disable linting for some specific lines where appropriate
-  * Add XML namespaces & version to cyclone DDS config
-  * Omit XML linting (for now); it's consistently timing out and failing
-  * Code formatting fixes
-  * Add exception handling to the file preview
-  * Add an option to force the Create3 settings to be reapplied, even if we haven't changed anything else. Always apply the _do_not_use namespace, as we're universally using the republisher now
-  * Remove superfluous concatenation
-  * Enable testing packages for CI
-  * Disable checks on two lines with long format strings
-  * Add exception handling for install & uninstall
-  * Add an error prompt to show errors during installation
-  * Handle KeyErrors separately
-  * Add newline to end of file
-  * Fix indentation
-  * `''.format` -> `f''`
-  * Update the default system file, print the keys instead of the enums
-  * Add a `__str_\_` function to the relevant classes
-* Disable DHCP4 on the built-in ethernet interface, make it non-optional
-* Change the post-install chrony file command from mv to cp
-* Only copy if the file exists
-* Initial Jazzy implementation (`#15 <https://github.com/turtlebot/turtlebot4_setup/issues/15>`_)
-* Contributors: Chris Iverach-Brereton
+* Remove dhcp true because it was causing eth0 to lose the static IP (`#17 <https://github.com/turtlebot/turtlebot4_setup/issues/17>`_)
+* Change the post-install chrony file command from mv to cp. Only copy if the file actually exists.
+* Contributors: Chris Iverach-Brereton, Hilary Luo
 
 1.0.4 (2024-07-02)
 ------------------

CMakeLists.txt

@@ -16,13 +16,6 @@ install(
   DESTINATION lib/${PROJECT_NAME}
 )
 
-# disable XML linting; it consistently times out
-# TODO (civerachb-cpr) -- figure out why it's timing out and re-enable
-# hypothesis: it's related to the additional XML files in etc/turtlebot4
-list(APPEND AMENT_LINT_AUTO_EXCLUDE
-  ament_cmake_xmllint
-)
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

README.md

@@ -4,8 +4,6 @@ Setup scripts and tools for the TurtleBot 4 Raspberry Pi.
 
 Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_setup.html) for more details.
 
-Make sure your Create® 3 is updated to the `I.*.*` firmware; older versions of the firmware are not compatible with ROS 2 Jazzy.
-
 # Create an image manually
 
 Follow these instructions if you wish to create a Turtlebot4 image manually.
@@ -14,14 +12,14 @@ Follow these instructions if you wish to create a Turtlebot4 image manually.
 
 First install the [Raspberry Pi Imager](https://www.raspberrypi.com/software/).
 
-- Insert your SD card into your PC and run the Raspberry Pi Imager. Follow the instructions and install Ubuntu 24.04 Server (64-bit) onto the SD card.
-- Ensure your Raspberry Pi 4 is not powered before inserting the flashed SD card.
+- Insert your SD card into your PC and run the Raspberry Pi Imager. Follow the instructions and install Ubuntu 22.04 Server (64-bit) onto the SD card.
+- Ensure your Raspberry Pi 4 is not powered before inserting the flashed SD card. 
 - You can set up the Raspberry Pi by either connecting it to your network via Ethernet or by using a keyboard and HDMI monitor via a micro HDMI cable.
 
 ### Ethernet Setup
 
 - Connect the Raspberry Pi to your Network with an Ethernet cable.
-- Boot the Raspberry Pi.
+- Boot the Raspberry Pi. 
 - Find the Raspberry Pi's IP using your router's portal.
 - SSH into the Raspberry Pi using the IP address.
 ```bash
@@ -64,7 +62,7 @@ ssh [email protected]
 ## Download and run the setup script
 
 ```
-wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/turtlebot4_setup.sh | bash
+wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/humble/scripts/turtlebot4_setup.sh | bash
 ```
 
-The script will automatically install ROS 2 Jazzy, TurtleBot 4 packages, and other important apt packages. It will also configure the RPi4 to work in a TurtleBot 4. Once complete, the RPi4 should be rebooted with `sudo reboot`. Then, run `turtlebot4-setup` to configure the robot with the setup tool.
+The script will automatically install ROS 2 Humble, TurtleBot 4 packages, and other important apt packages. It will also configure the RPi4 to work in a TurtleBot 4. Once complete, the RPi4 should be rebooted with `sudo reboot`. Then, run `turtlebot4-setup` to configure the robot with the setup tool.

etc/netplan/40-ethernets.yaml

@@ -5,8 +5,7 @@ network:
         eth0:
             addresses:
             - 192.168.185.3/24
-            dhcp4: false
-            optional: false
+            optional: true
         usb0:
             addresses:
             - 192.168.186.3/24

etc/turtlebot4/cyclonedds_rpi.xml

@@ -1,8 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
-<CycloneDDS
-    xmlns="https://cdds.io/config"
-    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-    xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+<CycloneDDS>
     <Domain>
         <General>
             <Interfaces>

etc/turtlebot4/discovery.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
-source /opt/ros/jazzy/setup.bash
+source /opt/ros/humble/setup.bash
 fastdds discovery -i 0 -p 11811

etc/turtlebot4/fastdds_rpi.xml

@@ -1,5 +1,5 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+<?xml version="1.0" encoding="UTF-8" ?>
+<dds>
     <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
         <participant profile_name="turtlebot4_default_profile" is_default_profile="true">
             <rtps/>

etc/turtlebot4/setup.bash

@@ -5,8 +5,7 @@ export ROS_DOMAIN_ID=0
 export ROS_DISCOVERY_SERVER=
 export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 export TURTLEBOT4_DIAGNOSTICS=1
-export WORKSPACE_SETUP=/opt/ros/jazzy/setup.bash
+export WORKSPACE_SETUP=/opt/ros/humble/setup.bash
 export ROS_SUPER_CLIENT=False
-export ROBOT_SETUP=/etc/turtlebot4/setup.bash
 
-source $WORKSPACE_SETUP
+source $WORKSPACE_SETUP

etc/turtlebot4/system

@@ -1,4 +1,3 @@
-MODEL:lite
-VERSION:2.0.2
-ROS:Jazzy
-HOSTNAME:turtlebot4
+MODEL:standard
+VERSION:1.0.0
+ROS:Humble

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot4_setup</name>
-  <version>2.0.2</version>
+  <version>1.0.5</version>
   <description>Turtlebot4 setup scripts</description>
   <maintainer email="[email protected]">rkreinin</maintainer>
   <license>Apache 2.0</license>
@@ -16,7 +16,6 @@
   <exec_depend>rmw_fastrtps_cpp</exec_depend>
   <exec_depend>robot_upstart</exec_depend>
   <exec_depend>simple_term_menu_vendor</exec_depend>
-  <exec_depend>socat</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

scripts/create_update.sh

@@ -5,7 +5,7 @@
 
 Help()
 {
-   echo "Create 3 update script for robots running I.*.*"
+   echo "Create 3 update script for robots running H.1.0 or higher"
    echo
    echo "usage: bash create_update.sh /path/to/image.swu [-h]"
    echo "options:"

scripts/jazzy.sh → scripts/humble.sh

@@ -1,19 +1,15 @@
 #!/usr/bin/env bash
 sudo apt update && sudo apt install curl gnupg lsb-release -y
-
-# Add ROS sources
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
-# Install the packages
 sudo apt update
 sudo apt install -y \
-ros-jazzy-ros-base \
+ros-humble-ros-base \
 build-essential \
 cmake \
 git \
 wget \
 ros-dev-tools \
 socat \
 network-manager \
-chrony
+chrony

scripts/sd_flash.sh

@@ -38,16 +38,3 @@ do
 done
 
 sudo dcfldd if=$1 sizeprobe=if bs=1M$of
-
-for device in $device_names
-do
-    if [[ $device == mmcblk* ]]; then
-        last_partition="${device}p2"
-    else
-        last_partition="${device}2"
-    fi
-
-    sudo e2fsck -f /dev/${last_partition}
-    sudo growpart /dev/$device 2
-    sudo resize2fs /dev/${last_partition}
-done

scripts/turtlebot4_setup.sh

@@ -31,24 +31,23 @@ echo "Setting up Turtlebot4";
 
 sudo apt update && sudo apt upgrade
 
-wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/jazzy.sh | bash
+wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/humble/scripts/humble.sh | bash
 
 sudo apt update && sudo apt upgrade
 
-sudo apt install -y ros-jazzy-ros-base \
-ros-jazzy-turtlebot4-setup \
-ros-jazzy-turtlebot4-robot \
-ros-jazzy-irobot-create-control \
-ros-jazzy-turtlebot4-navigation \
+sudo apt install -y ros-humble-ros-base \
+ros-humble-turtlebot4-setup \
+ros-humble-turtlebot4-robot \
+ros-humble-irobot-create-control \
+ros-humble-turtlebot4-navigation \
 ros-dev-tools \
+socat \
 network-manager \
 chrony
 
-if [ -f /etc/netplan/50-cloud-init.yaml ]; then
-   sudo rm /etc/netplan/50-cloud-init.yaml
-fi
+sudo rm /etc/netplan/50-cloud-init.yaml
 
-git clone https://github.com/turtlebot/turtlebot4_setup.git -b jazzy && \
+git clone https://github.com/turtlebot/turtlebot4_setup.git -b humble && \
 sudo mv turtlebot4_setup/boot/firmware/* /boot/firmware && rm turtlebot4_setup/ -rf
 
 echo "export ROBOT_SETUP=/etc/turtlebot4/setup.bash" | sudo tee -a ~/.bashrc