Support ROS 2 Jazzy Jalisco

[HansRobo]

NOTE: This is transffered from autowarefoundation/autoware.universe#7598

Description

The new distro, Jazzy Jalisco is out!
https://discourse.ros.org/t/ros-2-jazzy-jalisco-released/37862

Lets's start planning to support it.

Purpose

The purpose is to support new distro, Jazzy Jalisco.
It is inevitable that some users will request Jazzy support in the near future.
In the process of supporting Jazzy, we will also see positive results for Autoware running on Humble, such as removing deprecated features.

Possible approaches

• Identify and migrate features that are deprecated in humble and removed in Jazzy
• Implement conditional compilation for jazzy
• Add packages that have not been released for jazzy in the repos file
• Promote jazzy support for packages that autoware depends on

Definition of done

The initial Jazzy support is sufficient to build and minimally run with PlanningSimulator.
But making distructive changes for autoware behavior with ROS 2 Humble is not permitted.

[f0reachARR]

autoware.universe

Identified problems to be fixed

• Missing dependency that caused build errors
  • ament_index_cpp is no longer added as dependency by rclcpp package. Related PR is Switch to target_link_libraries. ros2/rclcpp#2374
  • grid_map_ros related things are not referenced by transitive dependencies.
• Replace / introduce conditional include for deprecated header files
• Adopt changes of optional in Boost library
• Replace deprecated Ogre API in RViz plugins
• redundant move in return statement error

Identified problems, but not fixable now

• QoS arguments of create_client / create_service: In jazzy, setting it to rmw_qos_* is deprecated, but humble does not support new method.
• Some required packages are not provided by binary distribution.
  • navigation2 (nav2_costmap_2d, etc...). Related issue: Navigation2 for Jazzy ros-navigation/navigation2#4428
  • grid_map
  • pacmod3_msgs
  • Open3D (python3-open3d package). Related issue: libopen3d-dev not available on Ubuntu 24.04 (Noble) isl-org/Open3D#6730 (unused now)

Identified problems, uncategorized

• SerializedBagMessage structure changes cause build errors
• -Werror causes much build errors. (Is -Werror options changed?)
• Boost.Geometry related errors. (Release note)
  • fatal error: 'boost/geometry/strategies/agnostic/hull_graham_andrew.hpp' file not found autoware.universe#8982

[HansRobo]

ANYbotics/grid_map will support Jazzy on v2.2.0
https://github.com/ANYbotics/grid_map/milestone/1

I heard from one of the maintainers of ANYbotics/grid_map that they are waiting for Jazzy support for navigation2.
https://x.com/wep21_/status/1794735182035218765

[f0reachARR]

Navigation2 for Jazzy is released.
https://github.com/ros2-gbp/navigation2-release

[amadeuszsz]

@f0reachARR
For python3-open3d I think we can remove this dependency.
autowarefoundation/autoware.universe#7758

[Timple]

This PR is also required for jazzy: autowarefoundation/autoware.universe#8528

[f0reachARR]

autoware_common

Identified problems that already fixed

• Adopt changes of optional in Boost library

[f0reachARR]

TIER IV packages

tier4_ad_api_adaptor

Identified problems to be fixed

• Missing dependency that caused build errors

nebula

Identified problems to be fixed

• Missing dependency that caused build errors

[f0reachARR]

Other known problems

Devcontainer user

The Ubuntu Noble distortion Docker image used by Jazzy has ubuntu user with UID 1000 by default.
This conflicts with the autoware user for Devcontainer.

lanelet2_* build error

Related:

• https://github.com/KIT-MRT/mrt_cmake_modules/pull/35]
• Fix buildfarm by find_package GeographicLib fzi-forschungszentrum-informatik/Lanelet2#344

Default compiler option changes

• -Werror=c++20-compat error in autoware_auto_common
  • Workaround: -Wno-c++20-compat

FLANN not found error: fixed

Maybe related to mrt_cmake_modules
mrt_cmake_modules does not set FLANN_FOUND when FLANN target has been defined. However, if FLANN_FOUND was set in scoped (such as add_subdirectory), this behavior hide FLANN_FOUND from other scopes.

[Timple]

The FLANN not found error should be solved when this PR is merged: KIT-MRT/mrt_cmake_modules#38

[f0reachARR]

Thank you for fixing mrt_cmake_modules!

[Timple]

You're welcome. Too bad there hasn't been a jazzy sync yet. So make sure you apt remove ros-jazzy-mrt-cmake-modules first before trying stuff 🙂

[Timple]

A new challenge has been introduced: autowarefoundation/autoware.universe#8609 (review)
Mentioning it here for tracking purposes.

[f0reachARR]

I found some compiler options are changed by upgrading GCC.
Here is some examples from outside projects (Broken build on linux with gcc 13.2.0)

[Timple]

https://github.com/tier4/muSSP needs a bloom release, because it's listed as dependency for

• autoware_multi_object_tracker
• autoware_radar_object_tracker
• autoware_tracking_object_merger
• autoware_object_merger