ROS2: Update from Humble to Jazzy

[andrewkwolek]

I made some changes to make the repo compatible with Jazzy Jalisco which is the most recent build of ROS2. Most of these changes involved changing dependencies from humble to jazzy. I also changed micro_ros_agent to use the jazzy branch instead of the humble branch in Tools/ros2/ros2.repos.

I was able to successfully run the installation and SITL in the documentation (https://ardupilot.org/dev/docs/ros2-sitl.html). This did not take much time, so it makes me curious why this hasn't been done yet? It is possible there are some low level changes that need to be made that I am unaware of. Thanks!

[andrewkwolek]

Looks like the container used for colcon build/test / build-test (pull_request) does not have jazzy installed on it.

[andrewkwolek]

Is there a way to change the container https://github.com/ArduPilot/ardupilot_dev_docker/blob/master/docker/Dockerfile_dev-ros that the colcon.yml test uses to have jazzy installed instead of humble?

[Ryanf55]

Thanks! It's on our radar to migrate to Jazzy, but we haven't decided how to do that.

Your PR is a proposal to migrate immediately, without warning, and have no support of humble anymore, at least from CI. I propose we be a little more conservative, and find a way to phase the migration in.

[andrewkwolek]

One note. The container container: image: ardupilot/ardupilot-dev-ros:latest that colcon.yml runs on is set to test humble. I don't know if there is a way to run two different images from one Docker file so we may need an arupilot-dev-ros-jazzy and ardupilot-ros-dev-humble container. Does that sound okay?

[Ryanf55]

Yes that's ok we can add containers like that.

[andrewkwolek]

@Ryanf55 I made this PR in ardupilot_dev_docker: ArduPilot/ardupilot_dev_docker#33 as it would also need to be implemented in order to properly test both jazzy and humble. I implemented the matrix build so feel free to take a look.

[andrewkwolek]

@Ryanf55 I added the options field with the --build-arg ROS-VERSION=${version} tag.