jazzy migration

[kevinjin0420]

Summary

• Migrate from ROS 2 Humble/Ubuntu 22 to ROS 2 Jazzy/Ubuntu 24
  • Qt5 -> Qt6 for camera_client (Qt::Widgets/Multimedia/MultimediaWidgets -> Qt6::..., setMedia -> setSource)
  • drop the deadsnakes Python PPA, GCC-13 PPA, and Kitware CMake PPA from the build role, Ubuntu 24 ships new-enough versions of all three natively
  • delete ansible/jetson.yml, jetson_build.yml already includes the jetson_networks role it existed solely to invoke
• BIG CHANGE: Flatten the repo layout: ~/mrover-ros2 instead of the nested ~/ros2_ws/src/mrover colcon workspace
  • mrover is a single package, the src/ nesting was never actually required
  • also prep for pixi: portable/pixi package resolution gets much uglier on top of a nested workspace, flattening now avoids doing this migration twice
  • bootstrap.sh clones straight to ~/mrover-ros2 with --recurse-submodules, no interactive workspace-path prompt anymore
    • that path prompt NEVER worked. there are so many hard coded paths (used to be ~/ros2_ws/src/mrover) that if a user specified a custom path it will 100% break. removing this feature
  • build.sh/clean.sh no longer pushd ../.., this repo IS the workspace root now
  • ansible ros2_workspace var (and jetson roles' hardcoded ros2_ws/src/mrover paths) replaced with mrover_repo everywhere
  • cmake/macros.cmake: mrover_add_component's post-install symlink no longer hardcodes the old nested ../../build/.../install/... path, uses ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_PREFIX}
  • panorama.py/pano-copy.sh drop the ament_index_python + ../../../../../src/mrover/... path hack for a plain MROVER_REPO-relative path
• CMake fixes surfaced by the above
  • cmake_policy(SET CMP0148 NEW), drops the now-illegal (and dead, its one consumer was already commented out) find_package(PythonLibs REQUIRED) under if (APPLE)
  • manif: try find_package first, FetchContent only as a fallback, pre-moving for when pixi provides it
  • Dawn: list(PREPEND CMAKE_PREFIX_PATH ...) instead of Dawn_ROOT, matches how find_package(Dawn QUIET) actually searches
  • wrap rosidl's generated Python target's raw INTERFACE_INCLUDE_DIRECTORIES in $<BUILD_INTERFACE:...>, CMP0052 otherwise rejects them
  • gst_utils only links PkgConfig::Gst/GstApp if found, so macOS (no GStreamer) doesn't fail configure
  • gate the fallback units target behind "esw/fw submodule absent," esw/fw/lib/units already defines it once checked out
• Rebuild the CI Docker image for ubuntu:noble (Dockerfile)
  • sudo grant moved to a per-user sudoers.d drop-in, noble's default /etc/sudoers ships an active %sudo (password-required) rule that a later NOPASSWD %sudo rule doesn't reliably override
  • ADD ./scripts since it was missing entirely, the ci role's Dawn download step had been silently failing (ENOENT) on every image build
  • setup_dawn.sh now mkdir -ps its destination's parent dir, deps/ doesn't exist yet in a fresh container checkout
  • clean apt cache/lists in the same layer as the install so the space is actually reclaimed, not just whited-out in a later layer
  • ethan if you have credentials to the team dockerhub acc feel free to push and change image to be under umrover1
• CI workflow (ci.yml) fixes to match
  • Build step now activates the venv first, colcon lives there via the ansible role's pip install, not system-wide
  • delete build_ci.sh, ci.yml calls ./build.sh Release directly now like main does
  • Checkout ESW Submodule step now also sets safe.directory explicitly, actions/checkout's own exception for this doesn't carry over to a separately-invoked git command in the same container job
• Ansible role modernization
  • apt repos moved off deprecated apt_key/apt_repository (removed in ansible-core 2.25, already warning in CI today) onto deb822_repository, which also takes a key URL directly via signed_by, no separate key-download task needed
  • RPM repos (dev role) moved off raw dnf config-manager shell-outs onto the portable yum_repository module, so dnf.yml now works unchanged on both dnf and dnf5 hosts, dnf5.yml is gone, dispatch normalizes dnf5 -> dnf before the include_tasks
  • add community.general collection dependency, needed by modules already in use
  • split platform-specific package installs into apt.yml/dnf.yml/pacman.yml/homebrew.yml, dispatched via ansible_pkg_mgr, groundwork for non-Ubuntu dev machines
  • ~/.zshrc no longer gets overwritten, only a single blockinfile-managed block sourcing ~/.mrover.zshenv gets appended, oh-my-zsh/plugins/theme are staged but never force-activated
  • resolve the zsh binary via which zsh instead of a hardcoded /usr/bin/zsh, macOS ships it at /bin/zsh
• Misc cleanup
  • delete environment.bash, a personal dev leftover pointing at /home/quintin's Humble workspace
  • style.sh: error output goes to stderr, fix a couple of shellcheck SC2155 warnings

Verification

• CI Build + Style green
• Fresh clone / clean tree build succeeds
• Sim launches and renders

Tested on clean installs of

• Ubuntu 24
• Kubuntu 24

[ejhon1116]

review

[ejhon1116]

quick review

[kevinjin0420]

@danielryckman can you take a look and update this for ubuntu 24?

[danielryckman]

will do

[kevinjin0420]

think khush already bumped

[danielryckman]

@MyCabbages4 are we officially switching to cuda 13.0? also, roles/jetson_build/tasks/main.yml still installs ubuntu2204 cuda keyring, should probably change that too

[MyCabbages4]

I believe the switch is real but @ejhon1116 can you confirm? Changed the jetson_build yaml but I noticed that the ZED SDK v5.4 only supports up to CUDA 13.2 for jetpack 7.2 right now so I'm switching the percep yaml to use that version instead. Should I do something different? Edit: Jetpack 7.2 officially adds CUDA 13 to the jetson

[danielryckman]

we'll have a couple issues if we decide to switch over to cuda-13, there is a cuda 12 option for the newest zed sdk so if possible i would prefer we stay on cuda 12. if not i can look into what we need to change

[qhdwight]

delete environment.bash, a personal dev leftover pointing at /home/quintin's Humble workspace

Dang Claude does not know me