Merge pull request #317 from IMRCLab/feature_support_iron

Change support from galactic->iron
IMRCLab · Oct 23, 2023 · ccd16bf · ccd16bf
2 parents ecf3b78 + 2eea5b1
commit ccd16bf
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diff --git a/.github/workflows/ci-ros2.yml b/.github/workflows/ci-ros2.yml
@@ -9,69 +9,42 @@ on:
 # Based on example provided at https://github.com/ros-tooling/setup-ros
 
 jobs:
-  # build: # Docker is not supported on macOS and Windows.
-  #   runs-on: ${{ matrix.os }}
-  #   strategy:
-  #     matrix:
-  #       os: [macOS-latest, windows-latest]
-  #       ros_distribution:
-  #         - galactic
-  #   steps:
-  #     - uses: ros-tooling/setup-ros@v0.2
-  #       with:
-  #         required-ros-distributions: ${{ matrix.ros_distribution }}
-  #     - name: build and test
-  #       uses: ros-tooling/action-ros-ci@v0.2
-  #       with:
-  #         package-name: crazyswarm
-  #         target-ros2-distro: ${{ matrix.ros_distribution }}
-
   build_docker: # On Linux, use docker
     runs-on: ubuntu-latest
     strategy:
       matrix:
         ros_distribution:
-          - galactic
           - humble
+          - iron
 
         # Define the Docker image(s) associated with each ROS distribution.
         include:
-          # Galactic Geochelone (May 2021 - November 2022)
-          - docker_image: ubuntu:focal
-            ros_distribution: galactic
-            ros_version: 2
-
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
             ros_distribution: humble
             ros_version: 2
 
+          # Iron Irwini (May 2023 - Nov 2024)
+          - docker_image: ubuntu:jammy
+            ros_distribution: iron
+            ros_version: 2
+
     container:
       image: ${{ matrix.docker_image }}
     steps:
       - name: setup ROS environment
-        uses: ros-tooling/setup-ros@v0.4
+        uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
 
-      # There is a bug in vcstools, where submodules are not pulled recursively
-      # See https://github.com/dirk-thomas/vcstool/issues/205
-      # This is fixed in master, but not in the latest release
-      # Pull the latest version here
-      - name: install dependencies
-        run: |
-          sudo apt -y remove python3-vcstool
-          sudo pip3 install git+https://github.com/dirk-thomas/vcstool.git@7d1329f296cef4b767bf7ba0bf53a29dd3d3019c
-          vcs --version
-
       - name: install dependencies
         run: |
           sudo apt update
           sudo apt install -y libusb-1.0-0-dev
 
       - uses: actions/checkout@v2
       - name: build and test ROS 2
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
           # TODO: removed crazyflie_interfaces since it causes some test failures
           package-name: |

diff --git a/docs2/installation.rst b/docs2/installation.rst
@@ -5,12 +5,11 @@ Installation
 
 Crazyswarm2 runs on **Ubuntu Linux** in one of the following configurations:
 
-====== ======== ========
+====== ======== ============
 Ubuntu Python   ROS 2
------- -------- --------
-20.04  3.7, 3.8 Galactic
-22.04  3.10     Humble
-====== ======== ========
+------ -------- ------------
+22.04  3.10     Humble, Iron
+====== ======== ============
 
 .. warning::
    The `Windows Subsystem for Linux (WSL) <https://docs.microsoft.com/en-us/windows/wsl/about>`_ is experimentally supported but you'll have to use `usbipd-win <https://github.com/dorssel/usbipd-win/>`_.

diff --git a/docs2/tutorials.rst b/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 galactic):
+And if you  have not already, install the teleop package for the keyboard. (replace DISTRO with humble or iron):
 
 .. code-block:: bash
 
@@ -104,7 +104,7 @@ Assuming you have installed ROS 2 and Crazyswarm2 according to the instructions
 
 .. code-block:: bash
 
-    sudo apt-get install ros-galactic-slam-toolbox
+    sudo apt-get install ros-DISTRO-slam-toolbox
 
 Go to crazyflie/config/crazyflie.yaml, change the URI of the crazyflie to the one yours has and put the crazyflies you don't use on 'enabled: false':
 
@@ -227,7 +227,7 @@ Now, open up a  rviv2 window in a seperate terminal with :
 
 .. code-block:: bash
 
-    source /opt/ros/galactic/setup.bash
+    source /opt/ros/DISTRO/setup.bash
     rviz2
 
 Add the following displays and panels to RVIZ:
@@ -249,7 +249,7 @@ While still connected to the crazyflie with the server, open another terminal an
 
 .. code-block:: bash
 
-    source /opt/ros/galactic/setup.bash
+    source /opt/ros/DISTRO/setup.bash
     ros2 run teleop_twist_keyboard teleop_twist_keyboard
 
 and make the crazyflie take off with the 't' key on your keyboard. Now fly around the room to make a map of it.
@@ -289,7 +289,7 @@ Next, install the Navigation2 Bringup package:
 
 .. code-block:: bash
 
-  sudo apt-get install ros-galactic-nav2-bringup
+  sudo apt-get install ros-DISTRO-nav2-bringup
 
 Looking at the Launch file
 ~~~~~~~~~~~~~~~~~~~~~~~~~~