chore(inmoov_urdf): migrate from ROS 2 Humble to Jazzy

.github/workflows/ci.yml

@@ -10,10 +10,10 @@ on:
 
 jobs:
   build-and-test:
-    name: Build and test (thais_urdf)
+    name: Build and test (inmoov_urdf)
     runs-on: ubuntu-latest
     container:
-      image: osrf/ros:humble-desktop
+      image: osrf/ros:jazzy-desktop
     # Colcon tree must live next to the checkout, not under it: copying $GITHUB_WORKSPACE
     # into workspace/ws/... would copy a directory into its own subtree ("cannot copy into itself").
     # COLCON_WS must be canonical (no ..): upload-artifact@v4 rejects paths with relative segments.
@@ -36,7 +36,8 @@ jobs:
             build-essential \
             cmake \
             git \
-            gz-harmonic
+            ros-jazzy-ros-gz \
+            ros-jazzy-gz-ros2-control
           # Do not rm -rf /var/lib/apt/lists/* here; rosdep uses apt next and needs indexes.
           rosdep init || true
           rosdep update
@@ -48,42 +49,42 @@ jobs:
         run: |
           set -e
           mkdir -p "${COLCON_WS}/src"
-          cp -a "${GITHUB_WORKSPACE}" "${COLCON_WS}/src/thais_urdf"
+          cp -a "${GITHUB_WORKSPACE}" "${COLCON_WS}/src/inmoov_urdf"
 
       - name: rosdep install
         working-directory: ${{ env.COLCON_WS }}
         shell: bash
         run: |
           set -e
           apt-get update
-          source /opt/ros/humble/setup.bash
+          source /opt/ros/jazzy/setup.bash
           rosdep install --from-paths src --ignore-src -r -y
 
       - name: colcon build
         working-directory: ${{ env.COLCON_WS }}
         shell: bash
         run: |
-          source /opt/ros/humble/setup.bash
+          source /opt/ros/jazzy/setup.bash
           colcon build --symlink-install \
-            --packages-select thais_urdf \
+            --packages-select inmoov_urdf \
             --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON
 
       - name: colcon test
         working-directory: ${{ env.COLCON_WS }}
         shell: bash
         run: |
-          source /opt/ros/humble/setup.bash
+          source /opt/ros/jazzy/setup.bash
           source install/setup.bash
           colcon test \
-            --packages-select thais_urdf \
+            --packages-select inmoov_urdf \
             --event-handlers console_direct+ \
             --pytest-args "--tb=short -vv"
 
       - name: colcon test-result
         working-directory: ${{ env.COLCON_WS }}
         shell: bash
         run: |
-          source /opt/ros/humble/setup.bash
+          source /opt/ros/jazzy/setup.bash
           source install/setup.bash
           colcon test-result --verbose
 
@@ -93,14 +94,14 @@ jobs:
         if: success()
         run: |
           set -e
-          source /opt/ros/humble/setup.bash
+          source /opt/ros/jazzy/setup.bash
           source install/setup.bash
           mkdir -p build/coverage_reports
-          python3 -m pytest src/thais_urdf/test/ \
-            --cov=src/thais_urdf/launch \
-            --cov=src/thais_urdf/test \
-            --cov-report=xml:build/coverage_reports/thais_urdf.xml \
-            --cov-report=html:build/coverage_reports/html_thais_urdf \
+          python3 -m pytest src/inmoov_urdf/test/ \
+            --cov=src/inmoov_urdf/launch \
+            --cov=src/inmoov_urdf/test \
+            --cov-report=xml:build/coverage_reports/inmoov_urdf.xml \
+            --cov-report=html:build/coverage_reports/html_inmoov_urdf \
             --cov-report=term-missing \
             --cov-branch
 
@@ -109,15 +110,15 @@ jobs:
         if: success()
         with:
           token: ${{ secrets.CODECOV_TOKEN }}
-          files: ${{ env.COLCON_WS }}/build/coverage_reports/thais_urdf.xml
-          flags: thais_urdf
-          name: thais_urdf
+          files: ${{ env.COLCON_WS }}/build/coverage_reports/inmoov_urdf.xml
+          flags: inmoov_urdf
+          name: inmoov_urdf
           fail_ci_if_error: false
 
       - name: Upload coverage artifacts (XML + HTML)
         uses: actions/upload-artifact@v4
         if: always()
         with:
-          name: coverage-thais_urdf
+          name: coverage-inmoov_urdf
           path: ${{ env.COLCON_WS }}/build/coverage_reports/
           retention-days: 14

README.md

@@ -1,6 +1,6 @@
 # inmoov_urdf
 
-ROS 2 **Humble** package with the **InMoov-derived** robot description used by Lucy: **URDF/xacro**, **DAE meshes**, **ros2_control** blocks, **Gazebo (gz-sim) physics**, an **RViz** layout, and **launch files** for ros2_control + RViz / Gazebo.
+ROS 2 **Jazzy** (Ubuntu 24.04) package with the **InMoov-derived** robot description used by Lucy: **URDF/xacro**, **DAE meshes**, **ros2_control** blocks, **Gazebo (gz-sim) physics**, an **RViz** layout, and **launch files** for ros2_control + RViz / Gazebo.
 
 The web control panel (rosbridge + `/config/*` services) is **not** started from here — use `lucy_bringup` (`lucy.launch.py`) or `web_ros_api.launch.py` from `lucy_ros_packages`.
 
@@ -58,7 +58,7 @@ inmoov_urdf/
 
 ## Requirements
 
-ROS 2 Humble plus: `robot_state_publisher`, `controller_manager`, `rviz2`, `ros_gz_sim`, `ros_gz_bridge`, `gz_ros2_control`, `launch_ros`, `lucy_ros2_control`. The auto-cal script also needs **PyBullet** (already in the `lucy_ros2:humble` image, `pip` otherwise).
+ROS 2 Jazzy (Ubuntu 24.04) plus: `robot_state_publisher`, `controller_manager`, `rviz2`, `ros_gz_sim`, `ros_gz_bridge`, `gz_ros2_control`, `launch_ros`, `lucy_ros2_control`. The auto-cal script also needs **PyBullet** (already in the `lucy_ros2:jazzy` image, `pip` otherwise).
 
 ```bash
 rosdep install --from-paths src --ignore-src -r -y
@@ -69,7 +69,7 @@ For the control panel, also build `lucy_bringup` + `lucy_config_pipeline` (pulle
 ## Build
 
 ```bash
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
 cd lucy_ws
 colcon build --symlink-install --packages-select inmoov_urdf lucy_ros2_control
 source install/setup.bash

docs/DEVELOPER.md

@@ -1,6 +1,6 @@
 # Developer guide — `inmoov_urdf`
 
-ROS 2 **Humble**. For contributors who change URDF/xacro, meshes, RViz config, hardware YAML, or launch files. Bringup, hardware plugin, and cameras live in **`lucy_ros_packages`** ([Sentience-Robotics/lucy_ros_packages](https://github.com/Sentience-Robotics/lucy_ros_packages) → `docs/DEVELOPER.md`).
+ROS 2 **Jazzy** (Ubuntu 24.04). For contributors who change URDF/xacro, meshes, RViz config, hardware YAML, or launch files. Bringup, hardware plugin, and cameras live in **`lucy_ros_packages`** ([Sentience-Robotics/lucy_ros_packages](https://github.com/Sentience-Robotics/lucy_ros_packages) → `docs/DEVELOPER.md`).
 
 ---
 
@@ -228,7 +228,7 @@ Flags:
 - `--step-deg`, `--margin-deg` — sweep granularity / safety margin.
 - `--apply` — write the limits back to `robot_description.urdf.xacro`.
 
-PyBullet ships in the `lucy_ros2:humble` image via `Dockerfile.humble`; for host-side runs, see `scripts/requirements.txt`.
+PyBullet ships in the `lucy_ros2:jazzy` image via `Dockerfile.jazzy`; for host-side runs, see `scripts/requirements.txt`.
 
 Treat the result as an **upper bound on the kinematic envelope**, not the real end-stop. Override by hand for mechanical stops the URDF can't model (cable tension, gear stops), important poses outside the per-axis sweep from neutral, and finger meshes that overlap at the bind pose.
 
@@ -267,7 +267,7 @@ This restarts `robot_state_publisher` + `ros2_control` with the new URDF. **Cave
 | `scripts/autocalibrate_joint_limits.py` | Self-collision-bound joint-limit sweep in PyBullet. Optional `--apply` to write back. | `--apply` overwrites previous auto-cal values; manual values can be re-applied on top. |
 | `scripts/scale_xacro_origins.py` | One-shot maintenance: wrap raw `xyz` / primitive sizes with `${model_scale * N}`. | No — run once per migration; check the diff carefully. |
 
-`scripts/requirements.txt` is for host-side PyBullet runs only; CI / Docker image installs it via `Dockerfile.humble`.
+`scripts/requirements.txt` is for host-side PyBullet runs only; CI / Docker image installs it via `Dockerfile.jazzy`.
 
 ---
 

docs/hardware_mapping.md

@@ -72,7 +72,7 @@ With **SIMULATION ONLY** enabled in the activate workflow, `lucy_config_generato
 - One `<ros2_control>` block per board (`gz_ros2_control/GazeboSimSystem` when `use_gazebo_sim:=true`, otherwise `lucy_ros2_control/LucySystemHardware` with `publish_actuators:=false` for RViz/mock). URDF `min`/`max` on the command interface are enforced by **LucySystemHardware** only (real + mock), not by the stock Gazebo plugin.
 - `controllers.yaml` with `joint_state_broadcaster` + a single `lucy_sim_controller` listing every actuator `urdf_joint`.
 
-After generation, `lucy_config_pipeline` calls **`/lucy_control/restart`** so the running stack reloads without a full `lucy.launch.py` restart. Structural joint changes still require that restart (Humble does not hot-swap URDF hardware topology).
+After generation, `lucy_config_pipeline` calls **`/lucy_control/restart`** so the running stack reloads without a full `lucy.launch.py` restart. Structural joint changes still require that restart (ROS 2 does not hot-swap URDF hardware topology).
 
 ## Editing
 

launch/gazebo.launch.py

@@ -43,15 +43,14 @@
 import yaml
 
 
-
 def _gz_ros2_control_plugin_path():
     pkg_share = get_package_prefix("inmoov_urdf")
     plugin_path = os.path.join(pkg_share, "lib", "mock_sensor")
     try:
         share = get_package_share_directory("gz_ros2_control")
         return os.path.join(os.path.dirname(share), "lib") + os.pathsep + plugin_path
     except Exception:
-        return "/opt/ros/humble/lib" + os.pathsep + plugin_path
+        return "/opt/ros/jazzy/lib" + os.pathsep + plugin_path
 
 
 _DEFAULT_GENERATED_FILES = {
@@ -129,7 +128,7 @@ def _sim_camera_topics(pkg_share: str) -> list[tuple[str, str]]:
 
 
 def generate_launch_description():
-    ros_distro = os.environ.get("ROS_DISTRO", "humble").lower()
+    ros_distro = os.environ.get("ROS_DISTRO", "jazzy").lower()
     pkg_share = get_package_share_directory("inmoov_urdf")
     default_base = os.path.join(pkg_share, "description")
     generated = _active_generated_files(pkg_share)
@@ -247,7 +246,7 @@ def _camera_compressor(topic: str, compressed_topic: str) -> Node:
         gz_sim_share = get_package_share_directory("ros_gz_sim")
         gz_sim_launch_path = os.path.join(gz_sim_share, "launch", "gz_sim.launch.py")
     except Exception:
-        gz_sim_launch_path = "/opt/ros/humble/share/ros_gz_sim/launch/gz_sim.launch.py"
+        gz_sim_launch_path = "/opt/ros/jazzy/share/ros_gz_sim/launch/gz_sim.launch.py"
     default_world = os.path.join(pkg_share, "worlds", "default.sdf")
     # When headless: server-only (-s) with EGL rendering (--headless-rendering)
     # so OGRE2 still renders camera sensors without an X display. Otherwise:

launch/joint_preview.launch.py

@@ -92,7 +92,7 @@ def generate_launch_description():
     base_path = LaunchConfiguration("base_path")
     controllers_yaml = LaunchConfiguration("controllers_yaml")
 
-    # Force value_type=str so ROS 2 launch (Humble) does not try to YAML-parse
+    # Force value_type=str so ROS 2 launch does not try to YAML-parse
     # the xacro output. The URDF starts with `<?xml ...>`, which the YAML
     # loader rejects with "Unable to parse the value of parameter robot_description".
     robot_description = ParameterValue(

launch/rviz.launch.py

@@ -19,7 +19,7 @@
 from launch.actions import (
     DeclareLaunchArgument,
 )
-from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 

package.xml

@@ -23,7 +23,7 @@
   <!-- No exec_depend on lucy_ros2_control: would cycle (lucy_ros2_control depends on inmoov_urdf for URDF share). Controller parameters ship in this package as config/controllers.yaml (#95). -->
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>lucy_control_supervisor</exec_depend>
-  <!-- autocalibrate_joint_limits.py needs PyBullet (pip: pybullet; installed in Dockerfile.humble) -->
+  <!-- autocalibrate_joint_limits.py needs PyBullet (pip: pybullet; installed in Dockerfile.jazzy) -->
   <exec_depend>python3-yaml</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

scripts/autocalibrate_joint_limits.py

@@ -37,7 +37,7 @@
 
 Usage
 -----
-    # pybullet ships with the lucy_ros2:humble image (Dockerfile: pip install pybullet);
+    # pybullet ships with the lucy_ros2:jazzy image (Dockerfile.jazzy: pip install pybullet);
     # host-side: pip install --user -r scripts/requirements.txt
     python3 scripts/autocalibrate_joint_limits.py                  # headless dry run
     python3 scripts/autocalibrate_joint_limits.py --apply          # write back
@@ -96,7 +96,7 @@ def expand_urdf() -> str:
     elif shutil.which("ros2"):
         cmd = ["ros2", "run", "xacro", "xacro"]
     else:
-        sys.exit("xacro not on PATH (source ROS Humble)")
+        sys.exit("xacro not on PATH (source ROS 2 Jazzy)")
     cmd += [
         str(URDF_XACRO),
         f"base_path:={BASE_PATH}",
@@ -178,7 +178,7 @@ def setup(self, p, body, name_to_idx, cid) -> None:
         except ImportError:
             sys.exit(
                 "[--view rviz] rclpy/sensor_msgs not importable. "
-                "Source ROS Humble first (e.g. `source install/setup.bash`)."
+                "Source ROS 2 Jazzy first (e.g. `source install/setup.bash`)."
             )
         if not rclpy.ok():
             rclpy.init()

scripts/requirements.txt

@@ -1,3 +1,3 @@
 # Optional: URDF joint-limit auto-calibration (scripts/autocalibrate_joint_limits.py).
-# Installed in the lucy_ros2:humble image via Dockerfile.humble (pip).
+# Installed in the lucy_ros2:jazzy image via Dockerfile.jazzy (pip).
 pybullet>=3.2.0

test/xacro_helper.py

@@ -35,5 +35,5 @@ def run_xacro(args: Sequence[str], *, timeout: int = 120) -> subprocess.Complete
     elif shutil.which("ros2"):
         cmd = ["ros2", "run", "xacro", "xacro", *args]
     else:
-        pytest.skip("xacro not on PATH (run inside lucy_ros2:humble image)")
+        pytest.skip("xacro not on PATH (run inside lucy_ros2:jazzy image)")
     return subprocess.run(cmd, capture_output=True, text=True, timeout=timeout, check=False)