cleanup: sweep ROS1 leftovers missed by the per-package subagents

A comprehensive grep audit after the first port pass turned up files
and lines that the per-package subagents didn't touch because they
were outside each subagent's declared scope. This commit sweeps them
all up in one cleanup pass.

Shell scripts inside docker/ directories that were NOT run.sh:
  - autonomy_core/{base,client,control,estimation,interface,map_plan,
    state_machine}/docker/entrypoint.sh (7 files)
    source /opt/ros/noetic/setup.bash -> source /opt/ros/jazzy/setup.bash.
  - autonomy_core/client/docker/deploy.sh + deploy2.sh
    --name client -> --name client_ros2; image kumarrobotics/autonomy:
    client -> client-jazzy; roslaunch client_launch client.launch ->
    ros2 launch client_launch client.launch.py.

Other shell scripts the sim subagent missed:
  - autonomy_sim/unity_sim/dcist_utils/script/unity_sim.sh
    Full tmux orchestration rewrite: roslaunch -> ros2 launch, rosrun
    rosflight_offboard.py __ns:=X -> ros2 run arl_unity_ros_air
    rosflight_offboard --ros-args -r __ns:=X, roscore -> echo stub.
  - autonomy_sim/unity_sim/dcist_utils/script/takeoff.bash
    rosrun -> ros2 run; commented rosservice call lines updated to
    ros2 service call form with explicit std_srvs/Trigger +
    std_srvs/SetBool types.

tf2 .h -> .hpp header renames (ROS2 Jazzy renamed tf2_ros headers):
  - autonomy_core/map_plan/mapper/src/tf_listener.cpp: tf2/exceptions.h
  - autonomy_core/map_plan/mapper/include/mapper/tf_listener.h:
    tf2_ros/buffer.h, tf2_ros/transform_listener.h
  - autonomy_core/estimation/fla_ukf/src/fla_ukf_nodelet.cpp:
    tf2_ros/buffer.h, tf2_ros/transform_broadcaster.h,
    tf2_ros/transform_listener.h
  - autonomy_core/state_machine/state_machine_core/include/state_machine/
    local_global_replan_server.hpp:
    tf2_ros/buffer.h, tf2_ros/transform_listener.h
  - autonomy_sim/unity_sim/dcist_utils/src/odom2tf.cpp:
    tf2_ros/{buffer,static_transform_broadcaster,transform_broadcaster,
    transform_listener}.h
  - autonomy_sim/unity_sim/dcist_utils/src/msckf_calib_gen.cpp:
    tf2_ros/{buffer,transform_listener}.h
  - autonomy_sim/unity_sim/fake_lidar/src/fake_lidar_node.cpp + node2.cpp:
    tf2_ros/{buffer,transform_listener}.h

Dead dynamic_reconfigure artifact:
  - autonomy_core/map_plan/action_planner/cfg/ActionPlanner.cfg deleted.
    ROS2 has no drop-in dynamic_reconfigure replacement (use parameter
    callbacks). Subagent D's earlier commit already removed the
    `#include <action_planner/ActionPlannerConfig.h>` reference from
    every source file that used it; the .cfg was orphaned dead code.

Package-level README drift:
  - autonomy_core/map_plan/action_planner/README.md: update "roslaunch
    planner_standalone.launch" -> "ros2 launch planner_standalone.launch.py",
    "rosrun action_planner publish_plantwopointaction.py" -> "ros2 run
    action_planner publish_plantwopointaction.py", "rviz" -> "rviz2",
    and the wiki.ros.org/actionlib link -> the ROS2 Jazzy action server
    tutorial.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Author: XuRobotics

autonomy_core/base/docker/entrypoint.sh

@@ -3,10 +3,10 @@ set -e
 
 # setup ros environment
 echo "Setting up ros"
-echo "source /opt/ros/noetic/setup.bash" >> /$HOME/.bashrc
+echo "source /opt/ros/jazzy/setup.bash" >> /$HOME/.bashrc
 source /$HOME/.bashrc
 
-source /opt/ros/noetic/setup.bash
+source /opt/ros/jazzy/setup.bash
 
 if [ "$#" -eq 0 ]; then
   exec bash

autonomy_core/client/docker/deploy.sh

@@ -25,6 +25,6 @@ docker run --gpus all -it \
     --rm \
     --privileged \
     --network=host \
-    --name client \
-    kumarrobotics/autonomy:client \
-    roslaunch client_launch client.launch
+    --name client_ros2 \
+    kumarrobotics/autonomy:client-jazzy \
+    ros2 launch client_launch client.launch.py

autonomy_core/client/docker/deploy2.sh

@@ -9,6 +9,6 @@ docker run --gpus all -it \
     --rm \
     --privileged \
     --network=host \
-    --name client \
-    kumarrobotics/autonomy:client \
-    roslaunch client_launch client.launch
+    --name client_ros2 \
+    kumarrobotics/autonomy:client-jazzy \
+    ros2 launch client_launch client.launch.py

autonomy_core/estimation/fla_ukf/src/fla_ukf_nodelet.cpp

@@ -14,9 +14,9 @@
 #include <tf2/utils.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/transform_broadcaster.hpp>
+#include <tf2_ros/transform_listener.hpp>
 
 #include <Eigen/Geometry>
 #include <algorithm>

autonomy_core/map_plan/action_planner/README.md

@@ -4,7 +4,7 @@
 [Laura](mailto:laurajar@seas.upenn.edu)
 
 ## Overview
-This package bring together different planners into one place and launches a [action server](http://wiki.ros.org/actionlib) for motion planning. 
+This package brings together different planners into one place and launches a [ROS2 action server](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html) for motion planning.
 
 ## Slides
 Add a link to the slides here
@@ -13,7 +13,7 @@ Add a link to the slides here
 See the kr_autonomous_flight for installation instructions, some of the dependencies are from Laura's fork
 
 ## Running
-`autonomy_core/map_plan/map_plan_launch/launch/planner_standalone.launch` launches the planner by itself. It will launch the action server and a rviz node for visualization. Additionally `rosrun action_planner publish_plantwopointaction.py` can be used to publish a start and goal to the action server.
+`autonomy_core/map_plan/map_plan_launch/launch/planner_standalone.launch.py` launches the planner by itself. It will launch the action server and an rviz2 node for visualization. Additionally `ros2 run action_planner publish_plantwopointaction.py` can be used to publish a start and goal to the action server.
 
 JPS and GCOPTER running togeher can crash.
 

autonomy_core/map_plan/action_planner/cfg/ActionPlanner.cfg

@@ -2,8 +2,8 @@
 
 #include <geometry_msgs/msg/pose.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/transform_listener.hpp>
 
 #include <memory>
 #include <optional>

autonomy_core/map_plan/mapper/include/mapper/tf_listener.h

@@ -1,7 +1,7 @@
 #include "mapper/tf_listener.h"
 
 #include <geometry_msgs/msg/transform_stamped.hpp>
-#include <tf2/exceptions.h>
+#include <tf2/exceptions.hpp>
 
 namespace mapper {
 

autonomy_core/map_plan/mapper/src/tf_listener.cpp

@@ -18,8 +18,8 @@
 #include <std_msgs/msg/int64.hpp>
 #include <tf2/utils.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/transform_listener.hpp>
 
 #include "std_msgs/msg/string.hpp"
 

autonomy_core/state_machine/state_machine_core/include/state_machine/local_global_replan_server.hpp

@@ -8,15 +8,15 @@ fi
 echo "robot name ${ROBOT}"
 
 # echo "Enable motors..."
-# rosservice call /$ROBOT/mav_services/motors true
+# ros2 service call /$ROBOT/mav_services/motors std_srvs/srv/SetBool "{data: true}"
 # sleep 1
 
 # echo "Takeoff..."
-# rosservice call /$ROBOT/mav_services/takeoff
+# ros2 service call /$ROBOT/mav_services/takeoff std_srvs/srv/Trigger "{}"
 # sleep 1
 
-rosrun arl_unity_ros_air rosflight_offboard.py __ns:=${ROBOT}
+ros2 run arl_unity_ros_air rosflight_offboard --ros-args -r __ns:=${ROBOT}
 
 # read -p "Press [Enter] to go to [1, 1, 1]"
-# rosservice call /$ROBOT/mav_services/goTo "goal: [1.0, 1.0, 1.0, 0.0]"
+# ros2 service call /$ROBOT/mav_services/goTo kr_mav_msgs/srv/Vec4 "{goal: [1.0, 1.0, 1.0, 0.0]}"
 # sleep 1