infra: port Docker, GitHub Actions, external yamls, and docs to ROS2 Jazzy

Update every piece of non-package infrastructure to target ROS2 Jazzy
Jalisco on Ubuntu 24.04 instead of ROS1 Noetic on Ubuntu 20.04. Also
rename branch references in this commit from dev/ros2 to ros2_dev.

Dockerfiles (9):
  autonomy_core/{base,client,control,estimation,interface,map_plan,
  state_machine}/Dockerfile, autonomy_sim/Dockerfile,
  autonomy_sim/unity_sim/Dockerfile

  - base/Dockerfile: nvidia/cudagl:11.4.2-base-ubuntu20.04 ->
    osrf/ros:jazzy-desktop-full. The nvidia/cudagl lineage was EOL'd
    and has no direct Jazzy successor; a multi-line TODO at the top
    documents this and notes that compute-CUDA workloads (e.g. YOLOv8
    inference) will need a follow-up to either layer CUDA onto this
    image or switch to nvidia/cuda:12.x-runtime-ubuntu24.04.
  - Stage images (client/control/estimation/map_plan/state_machine/
    interface) inherit from the base image via the
    kumarrobotics/autonomy:<stage>-jazzy tag chain (the -jazzy suffix
    lets ROS1 and ROS2 images coexist on Docker Hub).
  - ros-noetic-* -> ros-jazzy-* throughout.
  - python-catkin-tools / python-catkin-pkg ->
    python3-colcon-common-extensions; python-rosdep -> python3-rosdep;
    python-rosinstall -> python3-vcstool.
  - ros-noetic-gazebo-ros-pkgs / gazebo-ros / gazebo-plugins ->
    ros-jazzy-ros-gz / ros-gz-sim / ros-gz-bridge (Gazebo Harmonic
    replaces Gazebo classic). hector-gazebo has no direct ROS2
    equivalent; a TODO in autonomy_sim/Dockerfile notes the sensor
    plugins it supplied will need replacement.
  - ros-noetic-rviz -> ros-jazzy-rviz2 (package renamed).
  - ros-noetic-tf -> ros-jazzy-tf2-ros (the tf package no longer
    exists in ROS2; tf2_ros replaces it).
  - catkin build / catkin config --extend <upstream>/devel ->
    single colcon build --symlink-install --cmake-args
    -DCMAKE_BUILD_TYPE=... step, with . <upstream>/install/setup.sh
    sourcing the upstream overlay.
  - state_machine/Dockerfile: added --break-system-packages to the
    rospkg pip install because Ubuntu 24.04 / PEP 668 enforces
    externally-managed environments.
  - unity_sim/Dockerfile: rm src/pkgs/rosflight_msgs/CATKIN_IGNORE
    -> rm -f ... /COLCON_IGNORE (marker name changed with colcon;
    -f so the build doesn't fail if the marker is already absent).

docker/run.sh scripts (9, one per Dockerfile):
  - roslaunch/rosrun/rosbag/rostopic/rosnode/rosservice/rosparam ->
    ros2 launch/run/bag/topic/node/service/param. roscore -> echo
    stub (ROS2 has no master). roscd <pkg> ->
    cd $(ros2 pkg prefix --share <pkg>).
  - /opt/ros/noetic -> /opt/ros/jazzy; devel/setup -> install/setup.
  - Docker image tags carry a -jazzy suffix to match the Dockerfiles.
  - Container names received a _ros2 suffix (autonomy_base_it ->
    autonomy_base_ros2_it, etc.) so ROS1 and ROS2 containers coexist.

GitHub Actions workflows (7):
  .github/workflows/docker-build-{base,client,control,estimation,
  map-plan,sim,state-machine}.yaml

  - Image base references updated consistent with the Dockerfiles.
  - runs-on: ubuntu-20.04 -> ubuntu-24.04 where applicable.
  - Workflow trigger branches: [master] -> [ros2_dev] so CI actually
    fires on this branch.
  - catkin build -> colcon build --symlink-install;
    /opt/ros/noetic -> /opt/ros/jazzy; devel/setup -> install/setup.
  - reviewdog workflows (cpplint/pylint/shellcheck) had no
    ROS1-specific content and are left unchanged.

external_*.yaml (5: external_all, external_coverage_planner,
external_lidar_odometry, external_real_robot, autonomy_sim/external):
  - Add a top-of-file TODO noting that the listed external repos
    are ROS1-only vcstool entries and must be ported to their ROS2
    equivalents before `vcs import` produces a buildable workspace.
  - Individual entries are left as-is so that vcs still resolves
    them at snapshot-time when someone starts porting each one.

README.md:
  - Banner at the top updated to reference ros2_dev (was dev/ros2
    after the initial rename).
  - Prereq section rewritten: catkin build -> colcon build
    --symlink-install, devel/setup -> install/setup,
    /opt/ros/noetic -> /opt/ros/jazzy.
  - New subsection "### ROS1 bags -> ROS2 conversion" noting that
    demo bags recorded under Noetic need rosbags-convert (from the
    `rosbags` pip package) before ros2 bag play can replay them.
  - Videos, wiki link, citations, code-structure diagram all
    untouched.

exp_usage.md: same dev-command substitutions as the run.sh scripts.

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

Author: XuRobotics

.github/workflows/docker-build-base.yaml

@@ -5,14 +5,14 @@ on:
   push:
     paths:
     - 'autonomy_core/base/**'
-    branches: [master]
+    branches: [ros2_dev]
   workflow_dispatch:
   schedule:
     - cron: '0 0 * * 0'
 
 jobs:
   main:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
 
     steps:
       -
@@ -33,7 +33,7 @@ jobs:
         uses: docker/build-push-action@v2
         with:
           push: true
-          tags: kumarrobotics/autonomy:base
+          tags: kumarrobotics/autonomy:base-jazzy
           file: ./autonomy_core/base/Dockerfile
           platforms: linux/amd64,linux/arm64
       -

.github/workflows/docker-build-client.yaml

@@ -6,18 +6,18 @@ on:
   workflow_dispatch:
   workflow_run:
     workflows: ["docker-build-map-plan"]
-    branches: [master]
+    branches: [ros2_dev]
     types:
       - completed
   push:
     paths:
     - 'autonomy_core/client/**'
-    branches: [master]
+    branches: [ros2_dev]
   # DO NOT add a schedule. This build will be triggered by base schedule.
 
 jobs:
   main:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
 
     steps:
       -
@@ -44,7 +44,7 @@ jobs:
         with:
           context: .
           push: true
-          tags: kumarrobotics/autonomy:client
+          tags: kumarrobotics/autonomy:client-jazzy
           file: ./autonomy_core/client/Dockerfile
           platforms: linux/amd64,linux/arm64
       -

.github/workflows/docker-build-control.yaml

@@ -5,19 +5,19 @@ name: docker-build-control
 on:
   workflow_run:
     workflows: ["docker-build-base"]
-    branches: [master]
+    branches: [ros2_dev]
     types:
       - completed
   workflow_dispatch:
   push:
     paths:
     - 'autonomy_core/control/**'
-    branches: [master]
+    branches: [ros2_dev]
   # DO NOT add a schedule. This build will be triggered by base schedule.
 
 jobs:
   main:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
 
     steps:
       -
@@ -44,7 +44,7 @@ jobs:
         with:
           context: .
           push: true
-          tags: kumarrobotics/autonomy:control
+          tags: kumarrobotics/autonomy:control-jazzy
           file: ./autonomy_core/control/Dockerfile
           platforms: linux/amd64,linux/arm64
       -

.github/workflows/docker-build-estimation.yaml

@@ -5,19 +5,19 @@ name: docker-build-estimation
 on:
   workflow_run:
     workflows: ["docker-build-base"]
-    branches: [master]
+    branches: [ros2_dev]
     types:
       - completed
   push:
     paths:
     - 'autonomy_core/estimation/**'
-    branches: [master]
+    branches: [ros2_dev]
   workflow_dispatch:
   # DO NOT add a schedule. This build will be triggered by base schedule.
 
 jobs:
   main:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
 
     steps:
       -
@@ -38,7 +38,7 @@ jobs:
         uses: docker/build-push-action@v2
         with:
           push: true
-          tags: kumarrobotics/autonomy:estimation
+          tags: kumarrobotics/autonomy:estimation-jazzy
           file: ./autonomy_core/estimation/Dockerfile
           platforms: linux/amd64,linux/arm64
       -

.github/workflows/docker-build-map-plan.yaml

@@ -6,18 +6,18 @@ on:
   workflow_dispatch:
   workflow_run:
     workflows: ["docker-build-control"]
-    branches: [master]
+    branches: [ros2_dev]
     types:
       - completed
   push:
     paths:
     - 'autonomy_core/map_plan/**'
-    branches: [master]
+    branches: [ros2_dev]
   # DO NOT add a schedule. This build will be triggered by base schedule.
 
 jobs:
   main:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
 
     steps:
       -
@@ -44,7 +44,7 @@ jobs:
         with:
           context: .
           push: true
-          tags: kumarrobotics/autonomy:map_plan
+          tags: kumarrobotics/autonomy:map_plan-jazzy
           file: ./autonomy_core/map_plan/Dockerfile
           platforms: linux/amd64,linux/arm64
       -

.github/workflows/docker-build-sim.yaml

@@ -6,18 +6,18 @@ on:
   workflow_dispatch:
   workflow_run:
     workflows: ["docker-build-state-machine"]
-    branches: [master]
+    branches: [ros2_dev]
     types:
       - completed
   push:
     paths:
     - 'autonomy_sim/**'
-    branches: [master]
+    branches: [ros2_dev]
   # DO NOT add a schedule. This build will be triggered by base schedule.
 
 jobs:
   main:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
 
     steps:
       -
@@ -44,7 +44,7 @@ jobs:
         with:
           context: .
           push: true
-          tags: kumarrobotics/autonomy:sim
+          tags: kumarrobotics/autonomy:sim-jazzy
           file: ./autonomy_sim/Dockerfile
           platforms: linux/amd64,linux/arm64
       -

.github/workflows/docker-build-state-machine.yaml

@@ -6,18 +6,18 @@ on:
   workflow_dispatch:
   workflow_run:
     workflows: ["docker-build-map-plan"]
-    branches: [master]
+    branches: [ros2_dev]
     types:
       - completed
   push:
     paths:
     - 'autonomy_core/state_machine/**'
-    branches: [master]
+    branches: [ros2_dev]
   # DO NOT add a schedule. This build will be triggered by base schedule.
 
 jobs:
   main:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
 
     steps:
       -
@@ -44,7 +44,7 @@ jobs:
         with:
           context: .
           push: true
-          tags: kumarrobotics/autonomy:state_machine
+          tags: kumarrobotics/autonomy:state_machine-jazzy
           file: ./autonomy_core/state_machine/Dockerfile
           platforms: linux/amd64,linux/arm64
       -

README.md

@@ -1,5 +1,5 @@
 > [!NOTE]
-> ## You are on the `dev/ros2` branch — ROS2 support for kr_autonomous_flight.
+> ## You are on the `ros2_dev` branch — ROS2 support for kr_autonomous_flight.
 >
 > This branch ports the entire `kr_autonomous_flight` stack from **ROS1 Noetic** (Ubuntu 20.04) to **ROS2 Jazzy Jalisco** (Ubuntu 24.04) — the latest ROS2 LTS. It is built on top of the [`feature/integrate_lidar_3d_planner_default`](https://github.com/KumarRobotics/kr_autonomous_flight/tree/feature/integrate_lidar_3d_planner_default) branch, which adds support for the **3D planner** and both **LIDAR + VIO** and **LIDAR-only** autonomous flight configurations. It is provided to help developers who want to use kr_autonomous_flight with ROS2.
 >
@@ -9,16 +9,27 @@
 
 ![alt text](https://github.com/KumarRobotics/kr_autonomous_flight/blob/master/docs/falcon4-compressed.jpg)
 
-# Branch Notice: 
+# Branch Notice:
 ## Prereq
-clone this repo 
-vcs import < external_all.yaml # pull dependency
-vcs import < motion_primitives/deps_ssh.repos # pull dependency of motion primitives for dispersion stuff
+Targets ROS2 Jazzy Jalisco on Ubuntu 24.04.
+
+```bash
+# clone this repo, then from the workspace root:
+source /opt/ros/jazzy/setup.bash
+vcs import < external_all.yaml  # pull dependencies (see TODO in that file — these are still ROS1-only)
+vcs import < motion_primitives/deps_ssh.repos  # pull motion primitives dispersion deps
 rosdep install --from-paths src --ignore-src -r -y
 sudo apt install libspdlog-dev
+colcon build --symlink-install
+source install/setup.bash
+```
 
-
-
+### ROS1 bags -> ROS2 conversion
+The demo bags that ship with the ROS1 `master` branch were recorded under
+Noetic and are not directly playable by `ros2 bag play`. Convert them first
+with the `rosbags-convert` CLI from the `rosbags` pip package
+(`pip install rosbags`), which rewrites `.bag` files into the ROS2 SQLite
+(`db3`) format that `ros2 bag play` understands.
 
 This is the autonomous flight code stack used at KumarRobotics, providing a complete solution for GPS-denied quadcopter autonomy. It has been tested extensively in challenging urban and rural (under forest canopy) environments.
 

autonomy_core/base/Dockerfile

@@ -1,6 +1,9 @@
-FROM nvidia/cudagl:11.4.2-base-ubuntu20.04
-
-RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub
+# TODO: restore CUDA runtime support (original used nvidia/cudagl:11.4.2-base-ubuntu20.04).
+# The nvidia/cudagl lineage was EOL'd and there is no drop-in Jazzy + CUDA image.
+# osrf/ros:jazzy-desktop-full covers graphics needs (rviz2, gazebo harmonic) but
+# compute-oriented CUDA workloads (e.g. yolov8 inference) will need a follow-up
+# that either layers CUDA onto this image or switches to nvidia/cuda:12.x-runtime-ubuntu24.04.
+FROM osrf/ros:jazzy-desktop-full
 
 #Run the frontend first so it doesn't throw an error later
 RUN export DEBIAN_FRONTEND=noninteractive \
@@ -39,22 +42,18 @@ ENV LC_ALL en_US.UTF-8
 ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 
-# ROS Setup
+# ROS2 Jazzy tools. The osrf/ros:jazzy-desktop-full base already ships the ROS2
+# apt source, colcon, rosdep, and the desktop-full metapackage, so we only need
+# to pull in the extra packages the autonomy stack depends on.
 RUN sudo apt-get update \
-    && sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
-    && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - \
-    && sudo apt-get update \
     && sudo apt-get install -y \
-      python3-catkin-tools \
+      python3-colcon-common-extensions \
       python3-rosdep \
-      python3-rosinstall \
       python3-vcstool \
-      ros-noetic-catkin \
-      ros-noetic-rosbash \
-      ros-noetic-desktop \
-      ros-noetic-pcl-ros \
-      ros-noetic-tf2-geometry-msgs \
-    && sudo rosdep init \
+      ros-jazzy-pcl-ros \
+      ros-jazzy-tf2-geometry-msgs \
+      ros-jazzy-tf2-ros \
+    && (sudo rosdep init || true) \
     && rosdep update
 
 COPY autonomy_core/base/docker/entrypoint.sh /entrypoint.sh

autonomy_core/base/docker/run.sh

@@ -1,6 +1,7 @@
 #!/bin/bash
 
-# TODO: add command line argument for rosmaster uri
-docker run -it --rm --network=host --name autonomy_base_it \
-    kumarrobotics/autonomy:base \
-    bash
+# ROS2: no rosmaster URI is needed; use ROS_DOMAIN_ID instead if you want to
+# namespace multiple robots on the same network.
+docker run -it --rm --network=host --name autonomy_base_ros2_it \
+    kumarrobotics/autonomy:base-jazzy \
+    bash