enable CI for jazzy (#542)

* Support for ROS Jazzy

.github/workflows/ci-ros2.yml

@@ -16,6 +16,7 @@ jobs:
  ros_distribution:
  - humble
  - iron
+ - jazzy
 
  # Define the Docker image(s) associated with each ROS distribution.
  include:
@@ -29,6 +30,11 @@ jobs:
  ros_distribution: iron
  ros_version: 2
 
+ # Jazzy Jalisco (May 2024 - May 2029)
+ - docker_image: ubuntu:noble
+ ros_distribution: jazzy
+ ros_version: 2
+
  container:
  image: ${{ matrix.docker_image }}
  steps:
@@ -40,12 +46,16 @@ jobs:
  - name: install dependencies
  run: |
  sudo apt update
- sudo apt install -y libusb-1.0-0-dev
+ sudo apt install -y libboost-program-options-dev libusb-1.0-0-dev
 
  - name: install pip dependencies
  # TODO: would be better to follow https://answers.ros.org/question/370666/how-to-declare-an-external-python-dependency-in-ros2/
  # but this requires some upstream changes
+
+ # colcon still does not seem to properly support venv, so we use a workaround to install
+ # a python package globally by disabling the externally managed flag that is default on Ubuntu 24.04
  run: |
+ sudo rm -f /usr/lib/python3.12/EXTERNALLY-MANAGED
  pip install rowan
 
  - uses: actions/checkout@v2

crazyflie_py/crazyflie_py/crazyflie.py

@@ -15,7 +15,7 @@
 
 
 from crazyflie_interfaces.msg import FullState, Position, Status, TrajectoryPolynomialPiece
-from crazyflie_interfaces.srv import Arm, GoTo, Land,\
+from crazyflie_interfaces.srv import Arm, GoTo, Land, \
  NotifySetpointsStop, StartTrajectory, Takeoff, UploadTrajectory
 from geometry_msgs.msg import Point
 import numpy as np
@@ -160,7 +160,7 @@ def __init__(self, node, cfname, paramTypeDict):
  elif response.values[0].type == ParameterType.PARAMETER_DOUBLE_ARRAY:
  self.initialPosition = np.array(response.values[0].double_array_value)
  else:
- assert(False)
+ assert False
 
  # extract uri
  self.uri = response.values[1].string_value

docs2/installation.rst

@@ -9,6 +9,8 @@ Crazyswarm2 runs on **Ubuntu Linux** in one of the following configurations:
 Ubuntu Python ROS 2
 ------ -------- ------------
 22.04 3.10 Humble, Iron
+------ -------- ------------
+24.04 3.12 Jazzy
 ====== ======== ============
 
 .. warning::
@@ -21,7 +23,7 @@ Ubuntu Python ROS 2
 First Installation
 ------------------
 
-1. If needed, install ROS 2 using the instructions at https://docs.ros.org/en/galactic/Installation.html or https://docs.ros.org/en/humble/Installation.html.
+1. If needed, install ROS 2 using the instructions at https://docs.ros.org/en/jazzy/Installation.html.
 
 2. Install dependencies
 
@@ -30,7 +32,7 @@ First Installation
  sudo apt install libboost-program-options-dev libusb-1.0-0-dev
  pip3 install rowan nicegui
 
- Then install the motion capture ROS 2 package (replace DISTRO with your version of ROS, namely humble or iron):
+ Then install the motion capture ROS 2 package (replace DISTRO with your version of ROS, namely humble, iron, or jazzy):
 
  .. code-block:: bash
 

docs2/tutorials.rst

@@ -19,7 +19,7 @@ We have an example of the telop_twist_keyboard package working together with the
 First, make sure that the crazyflies.yaml has the right URI and if you are using the `Flow deck <https://www.bitcraze.io/products/flow-deck-v2/>`_ or `any other position system available <https://www.bitcraze.io/documentation/system/positioning//>`_ to the crazyflie. 
 set the controller to 1 (PID). 
 
-And if you have not already, install the teleop package for the keyboard. (replace DISTRO with humble or iron):
+And if you have not already, install the teleop package for the keyboard. (replace DISTRO with humble, iron, or jazzy):
 
 .. code-block:: bash