umrover · kevinjin0420 · Jun 20, 2026 · Jun 20, 2026 · Jun 20, 2026 · Jun 20, 2026
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -20,7 +20,7 @@ jobs:
       - name: Install clang-format
         run: |
           wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo add-apt-repository 'deb https://apt.llvm.org/jammy/ llvm-toolchain-jammy-18 main'
+          sudo add-apt-repository 'deb https://apt.llvm.org/noble/ llvm-toolchain-noble-18 main'
           sudo apt-get update
           sudo apt-get install -y clang-format-18
       - name: Install shellcheck
@@ -31,39 +31,54 @@ jobs:
       - name: Run Style Check
         run: ./style.sh
 
-  ci:
-    name: Build
-    runs-on: ubuntu-latest
-    needs: style
+  build-native:
+    name: Build (native Ubuntu 24)
+    runs-on: ubuntu-24.04
     container:
-      image: umrover1/ros2-ci:jammy
-      # GitHub is silly and requires us to be running as root for their checkout action
-      # Our docker container exports the user mrover, so we have to specific this explicitly
+      image: umrover1/ros2-ci:noble
+      # by pass github's dubious ownership check
       options: --user root
+    needs: style
+    env:
+      # directory owned by mrover so CI can write to it and use caching
+      # this is new for ubuntu 24
+      HOME: /home/mrover
     steps:
       - uses: actions/checkout@v7
-        with:
-          # Re-enable when we put the simulator in the CI pipeline.
-          # lfs: "true"
-          # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
-          path: "src/mrover"
+        # Re-enable lfs: "true" when we put the simulator in the CI pipeline.
       - name: Compiler Cache
-        if: github.event.pull_request.draft == false
         uses: hendrikmuhs/ccache-action@v1.2.23
       - name: Dawn Cache
         if: github.event.pull_request.draft == false
         uses: actions/cache@v6
         with:
-          path: src/mrover/deps/dawn-prebuilt
-          key: dawn-${{ hashFiles('src/mrover/scripts/setup_dawn.sh') }}
+          path: deps/dawn-prebuilt
+          key: dawn-${{ hashFiles('scripts/setup_dawn.sh') }}
       - name: Setup Dawn
-        if: github.event.pull_request.draft == false
         run: ./scripts/setup_dawn.sh
-        working-directory: "${{ github.workspace }}/src/mrover"
+      - name: Manif Cache
+        uses: actions/cache@v6
+        with:
+          path: deps/manif-src
+          key: manif-${{ hashFiles('scripts/setup_manif.sh') }}
+      - name: Setup Manif
+        run: ./scripts/setup_manif.sh
+      - name: Imgui Cache
+        uses: actions/cache@v6
+        with:
+          path: deps/imgui-src
+          key: imgui-${{ hashFiles('scripts/setup_imgui.sh') }}
+      - name: Setup Imgui
+        run: ./scripts/setup_imgui.sh
+      - name: Pip Cache
+        uses: actions/cache@v6
+        with:
+          path: /home/mrover/.cache/pip
+          key: pip-${{ hashFiles('pyproject.toml', 'esw/fw/tools/pyproject.toml') }}
+          restore-keys: |
+            pip-
+      - name: Compiler Cache
+        uses: hendrikmuhs/ccache-action@v1.2.23
       - name: Build
-        if: github.event.pull_request.draft == false
         shell: bash
-        run: . /opt/ros/humble/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./build.sh
-      # - name: Test
-      #   if: github.event.pull_request.draft == false
-      #   run: . /opt/ros/noetic/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test && rostest mrover integration.test --text
+        run: source /opt/ros/jazzy/setup.bash && source /home/mrover/mrover-ros2/venv/bin/activate && ./build.sh Release
diff --git a/.gitignore b/.gitignore
@@ -5,7 +5,8 @@
 
 # Downloaded prebuilt dependencies
 /deps/dawn-prebuilt/
-/deps/.fetchcontent/
+/deps/manif-src/
+/deps/imgui-src/
 
 # Common IDE's, ideally this should be in global gitignore per user
 .vscode/
@@ -55,4 +56,4 @@ data/raw-pano-images
 .dynamixel_sdk/
 
 # Persistent esw mrover_can FetchContent cache (survives a clean build, not tracked)
-/.cache/esw/
+/deps/.fetchcontent/esw/
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -8,14 +8,14 @@
             "name": "(gdb) Launch",
             "type": "cppdbg",
             "request": "launch",
-            "program": "${workspaceFolder}/../../install/Debug/mrover/lib/mrover/${input:myStringInput}",
+            "program": "${workspaceFolder}/install/Debug/mrover/lib/mrover/${input:myStringInput}",
             "args": [],
             "stopAtEntry": false,
             "cwd": "${fileDirname}",
             "environment": [
                 {
                     "name": "LD_LIBRARY_PATH",
-                    "value": "${workspaceFolder}/../../install/Debug/mrover/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/aarch64-linux-gnu:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib"
+                    "value": "${workspaceFolder}/install/Debug/mrover/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/lib"
                 },
                 {
                     "name": "ROS_DOMAIN_ID",
@@ -44,7 +44,7 @@
             "program": "${file}",
             "console": "integratedTerminal",
             "env": {
-                "LD_LIBRARY_PATH": "${workspaceFolder}/../../install/Debug/mrover/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/aarch64-linux-gnu:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib",
+                "LD_LIBRARY_PATH": "${workspaceFolder}/install/Debug/mrover/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/lib",
                 "ROS_DOMAIN_ID": "5"
             }
         }
@@ -56,7 +56,7 @@
             "type": "command",
             "command": "file-selector.fileSelect",
             // exclude the absolute prefix path here
-            "args": "../../install/Debug/mrover/lib/mrover"
+            "args": "install/Debug/mrover/lib/mrover"
         }
     ]
 }
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -6,17 +6,17 @@
     "python.analysis.inlayHints.variableTypes": true,
     "python.analysis.inlayHints.callArgumentNames": "all",
     "python.analysis.inlayHints.functionReturnTypes": true,
-    // ~/ros2_ws/install/{profile}/mrover/lib/python3.10/site-packages is already in PYTHONPATH,
+    // ~/mrover-ros2/install/{profile}/mrover/lib/python3.12/site-packages is already in PYTHONPATH,
     // but Pylance currently has a bug where it cannot handle the symlinks in it.
     // Below we are just putting directly where those symlinks go for all build profiles
     "python.analysis.extraPaths": [
-        "/opt/ros/humble/lib/python3/dist-packages",
-        "../../install/Debug/mrover/lib/python3.10/site-packages",
-        "../../install/Release/mrover/lib/python3.10/site-packages",
-        "../../install/RelWithDebInfo/mrover/lib/python3.10/site-packages",
-        "../../build/Debug/mrover/rosidl_generator_py",
-        "../../build/Release/mrover/rosidl_generator_py",
-        "../../build/RelWithDebInfo/mrover/rosidl_generator_py",
+        "/opt/ros/jazzy/lib/python3/dist-packages",
+        "install/Debug/mrover/lib/python3.12/site-packages",
+        "install/Release/mrover/lib/python3.12/site-packages",
+        "install/RelWithDebInfo/mrover/lib/python3.12/site-packages",
+        "build/Debug/mrover/rosidl_generator_py",
+        "build/Release/mrover/rosidl_generator_py",
+        "build/RelWithDebInfo/mrover/rosidl_generator_py",
     ],
     "[python]": {
         "editor.defaultFormatter": "ms-python.black-formatter",

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.25)
 project(mrover VERSION 2025.0.0 LANGUAGES C CXX)
 
 # Supress ROS CMake warning about Python.
-cmake_policy(SET CMP0148 OLD)
+cmake_policy(SET CMP0148 NEW)
 
 set(CMAKE_CXX_STANDARD 23)
 set(CXX_STANDARD_REQUIRED ON)
@@ -31,9 +31,6 @@ if (APPLE)
     # Ensures that homebrew packages are never used over miniforge packages.
     # TODO (ali): Pretty sure this doesn't do anything on macs
     set(CMAKE_IGNORE_PATH /opt/homebrew)
-    # Find mamba python
-    find_package(PythonLibs REQUIRED)
-    # link_libraries(${PYTHON_LIBRARIES})
 endif ()
 
 if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -74,8 +71,10 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(urdf REQUIRED)
 find_package(std_srvs REQUIRED)
+find_package(ament_index_cpp REQUIRED)
 find_package(magic_enum REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
+find_package(yaml-cpp REQUIRED)
 find_package(dynamixel_sdk REQUIRED)
 
 if (MROVER_SIMULATOR)
@@ -91,29 +90,25 @@ if (NOT APPLE)
 endif()
 
 if (MROVER_SIMULATOR)
-    set(Dawn_ROOT "${CMAKE_CURRENT_LIST_DIR}/deps/dawn-prebuilt")
+    list(PREPEND CMAKE_PREFIX_PATH "${CMAKE_CURRENT_LIST_DIR}/deps/dawn-prebuilt")
     find_package(Dawn QUIET)
     if (NOT Dawn_FOUND)
         message(FATAL_ERROR "Dawn not found. Run 'scripts/setup_dawn.sh' before building.")
     endif ()
     add_library(webgpu ALIAS dawn::webgpu_dawn)
 endif ()
 
-include(FetchContent)
-
-set(FETCHCONTENT_BASE_DIR "${CMAKE_CURRENT_LIST_DIR}/deps/.fetchcontent")
-set(FETCHCONTENT_UPDATES_DISCONNECTED ON)
-
-FetchContent_Declare(manif
-    GIT_REPOSITORY https://github.com/artivis/manif.git
-    GIT_TAG        0.0.5
-    GIT_SHALLOW    TRUE
-    SYSTEM
-)
-set(BUILD_TESTING_PREV ${BUILD_TESTING})
-set(BUILD_TESTING OFF)
-FetchContent_MakeAvailable(manif)
-set(BUILD_TESTING ${BUILD_TESTING_PREV})
+find_package(manif QUIET)
+if (NOT manif_FOUND)
+    if (NOT EXISTS "${CMAKE_CURRENT_LIST_DIR}/deps/manif-src/CMakeLists.txt")
+        message(FATAL_ERROR "manif not found. Run 'scripts/setup_manif.sh' before building.")
+    endif ()
+    set(BUILD_TESTING_PREV ${BUILD_TESTING})
+    set(BUILD_TESTING OFF)
+    add_subdirectory("${CMAKE_CURRENT_LIST_DIR}/deps/manif-src" "${CMAKE_CURRENT_BINARY_DIR}/manif-build" EXCLUDE_FROM_ALL SYSTEM)
+    set(BUILD_TESTING ${BUILD_TESTING_PREV})
+    add_library(MANIF::manif ALIAS manif)
+endif ()
 
 find_package(PkgConfig REQUIRED)
 pkg_search_module(NetLink libnl-3.0 IMPORTED_TARGET QUIET)
@@ -123,13 +118,10 @@ pkg_search_module(GstApp gstreamer-app-1.0 IMPORTED_TARGET QUIET)
 pkg_search_module(LibUdev libudev IMPORTED_TARGET QUIET)
 
 if (MROVER_SIMULATOR)
-    FetchContent_Declare(
-        imgui
-        GIT_REPOSITORY https://github.com/ocornut/imgui.git
-        GIT_TAG        v1.92.8
-        GIT_SHALLOW    TRUE
-    )
-    FetchContent_MakeAvailable(imgui)
+    if (NOT EXISTS "${CMAKE_CURRENT_LIST_DIR}/deps/imgui-src/imgui.cpp")
+        message(FATAL_ERROR "imgui not found. Run 'scripts/setup_imgui.sh' before building.")
+    endif ()
+    set(imgui_SOURCE_DIR "${CMAKE_CURRENT_LIST_DIR}/deps/imgui-src")
     # avoid fetching in imgui_demo.cpp and unnecessarily compiling it
     add_library(imgui STATIC
         ${imgui_SOURCE_DIR}/imgui.cpp
@@ -205,7 +197,23 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     DEPENDENCIES nav_msgs sensor_msgs geometry_msgs action_msgs
 )
 
-# Starter project 
+# rosidl sets raw source-prefixed paths on INTERFACE_INCLUDE_DIRECTORIES, which
+# CMP0052 rejects. The policy explicitly permits such paths when wrapped in
+# $<BUILD_INTERFACE:...>, marking them as build-only (not exported).
+if(TARGET ${PROJECT_NAME}__rosidl_generator_py)
+    get_target_property(_py_iid ${PROJECT_NAME}__rosidl_generator_py INTERFACE_INCLUDE_DIRECTORIES)
+    if(_py_iid)
+        set(_py_iid_wrapped "")
+        foreach(_dir IN LISTS _py_iid)
+            list(APPEND _py_iid_wrapped "$<BUILD_INTERFACE:${_dir}>")
+        endforeach()
+        set_target_properties(${PROJECT_NAME}__rosidl_generator_py PROPERTIES
+            INTERFACE_INCLUDE_DIRECTORIES "${_py_iid_wrapped}"
+        )
+    endif()
+endif()
+
+# Starter project
 # TODO (ali): delete once AutonomyStarterProject.cmake is fixed
 mrover_add_node(starter_project_perception ${CMAKE_CURRENT_LIST_DIR}/starter_project/autonomy/src/*.cpp)
 target_link_libraries(starter_project_perception ${OpenCV_LIBS})
@@ -243,18 +251,23 @@ mrover_add_header_only_library(units units)
 mrover_add_header_only_library(loop_profiler loop_profiler)
 mrover_add_header_only_library(parameter_utils parameter_utils)
 mrover_add_header_only_library(gst_utils gst_utils)
-target_link_libraries(gst_utils INTERFACE magic_enum::magic_enum PkgConfig::Gst PkgConfig::GstApp)
+if (Gst_FOUND AND GstApp_FOUND)
+    target_link_libraries(gst_utils INTERFACE magic_enum::magic_enum PkgConfig::Gst PkgConfig::GstApp)
+else ()
+    target_link_libraries(gst_utils INTERFACE magic_enum::magic_enum)
+endif ()
 
 # Simulator
 
 if (MROVER_SIMULATOR)
     mrover_add_node(simulator simulator/*.cpp simulator simulator/pch.hpp)
-    ament_target_dependencies(simulator rclcpp rclcpp_components nav_msgs sensor_msgs geometry_msgs tf2 tf2_ros urdf yaml_cpp_vendor)
+    ament_target_dependencies(simulator rclcpp rclcpp_components nav_msgs sensor_msgs geometry_msgs tf2 tf2_ros urdf yaml_cpp_vendor ament_index_cpp)
     target_link_libraries(simulator
         assimp::assimp glfw3webgpu webgpu glfw webgpu_hpp imgui
         ${BULLET_LIBRARIES}
         lie Eigen3::Eigen
         opencv_core opencv_imgcodecs opencv_imgproc
+        yaml-cpp::yaml-cpp
         loop_profiler
         parameter_utils
     )
@@ -416,12 +429,12 @@ if (MROVER_BUILD_ESW AND NetLink_FOUND AND NetLinkRoute_FOUND)
     ament_target_dependencies(can_bridge rclcpp)
 endif ()
 
-# Teleop Qt5 Camera Client
-find_package(Qt5 5.15 REQUIRED COMPONENTS Widgets Multimedia MultimediaWidgets)
+# Teleop Qt6 Camera Client
+find_package(Qt6 REQUIRED COMPONENTS Widgets Multimedia MultimediaWidgets)
 
 mrover_add_node(camera_client teleoperation/camera_client/*.*pp teleoperation/camera_client/include/pch.hpp)
 target_include_directories(camera_client PRIVATE teleoperation/camera_client/include)
-target_link_libraries(camera_client gst_utils Qt::Widgets Qt::Multimedia Qt::MultimediaWidgets opencv_core opencv_imgcodecs)
+target_link_libraries(camera_client gst_utils Qt6::Widgets Qt6::Multimedia Qt6::MultimediaWidgets opencv_core opencv_imgcodecs)
 ament_target_dependencies(camera_client rclcpp std_srvs sensor_msgs)
 set_target_properties(camera_client PROPERTIES
     AUTOMOC ON

diff --git a/Dockerfile b/Dockerfile
@@ -1,4 +1,4 @@
-FROM ubuntu:jammy
+FROM ubuntu:noble
 
 # DEBIAN_FRONTEND=noninteractive prevents apt from asking for user input
 # software-properties-common is needed for apt-add-repository
@@ -8,13 +8,13 @@ RUN apt-get update -y && apt-get install software-properties-common sudo -y
 RUN apt-add-repository ppa:ansible/ansible -y && apt-get install -y git git-lfs ansible
 
 RUN useradd --create-home --shell /bin/zsh mrover
-# using per user rule over sudo group because a later group rule can require a
-# password and beat an earlier NOPASSWD one for the same group
+# using per user rule over sudo group because noble's default %sudo rule
+# requires a password and beats a NOPASSWD one for the same group
 RUN echo 'mrover ALL=(ALL) NOPASSWD:ALL' > /etc/sudoers.d/mrover && chmod 0440 /etc/sudoers.d/mrover
 
 USER mrover
-RUN mkdir -p /home/mrover/ros2_ws/src/mrover
-WORKDIR /home/mrover/ros2_ws/src/mrover
+RUN mkdir -p /home/mrover/mrover-ros2
+WORKDIR /home/mrover/mrover-ros2
 # Defines the APT packages that need to be installed
 # rosdep is called from Ansible to install them
 ADD --chown=mrover:mrover ./package.xml .
@@ -26,6 +26,7 @@ ADD --chown=mrover:mrover ./mrover ./mrover
 ADD --chown=mrover:mrover ./ansible ./ansible
 ADD --chown=mrover:mrover ./ansible.sh .
 ADD --chown=mrover:mrover ./pkg ./pkg
+ADD --chown=mrover:mrover ./scripts ./scripts
 # clean in the same layer so apt cache/lists don't just get removed later and still count towards size
 RUN ./ansible.sh ci.yml && sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*
 

diff --git a/ansible.sh b/ansible.sh
@@ -7,7 +7,6 @@ if [ "$#" -le 0 ]; then
     exit 1
 fi
 
-readonly MROVER_PATH=$(dirname "$0")
-readonly ROS2_WS_PATH=$(realpath "${MROVER_PATH}"/../..)
+readonly MROVER_PATH=$(dirname "$(realpath "$0")")
 
-ansible-playbook -i "localhost," -c local -K "${MROVER_PATH}"/ansible/"$1" --extra-vars "ros2_workspace=${ROS2_WS_PATH} $2"
+ansible-playbook -i "localhost," -c local -K "${MROVER_PATH}"/ansible/"$1" --extra-vars "mrover_repo=${MROVER_PATH}" ${2:+"$2"}
diff --git a/ansible/basestation.yml b/ansible/basestation.yml
@@ -1,7 +1,7 @@
 ---
 - hosts: all
-  vars:
-    ubuntu_release: focal
+  vars_files:
+    - vars/native.yml
   roles:
     # - dev
     - basestation_networks

diff --git a/ansible/build.yml b/ansible/build.yml
@@ -1,7 +1,6 @@
 ---
 - hosts: all
-  vars:
-    ros_distro: humble
-    ubuntu_release: jammy
+  vars_files:
+    - vars/native.yml
   roles:
     - build
diff --git a/ansible/ci.yml b/ansible/ci.yml
@@ -1,7 +1,6 @@
 ---
 - hosts: all
-  vars:
-    ros_distro: humble
-    ubuntu_release: jammy
+  vars_files:
+    - vars/native.yml
   roles:
     - ci