Remove ROS 2 Humble support

src/external_dependencies/ros2_robotiq_gripper/robotiq_controllers/CMakeLists.txt

@@ -5,15 +5,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Detect ROS distro for API compatibility
-if(DEFINED ENV{ROS_DISTRO})
-  if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
-    add_compile_definitions(ROS_DISTRO_JAZZY)
-  elseif("$ENV{ROS_DISTRO}" STREQUAL "humble")
-    add_compile_definitions(ROS_DISTRO_HUMBLE)
-  endif()
-endif()
-
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(controller_interface REQUIRED)

src/external_dependencies/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp

@@ -107,7 +107,6 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Roboti
 bool RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
                                                     std_srvs::srv::Trigger::Response::SharedPtr resp)
 {
-#ifdef ROS_DISTRO_JAZZY
   std::ignore = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
   std::ignore = command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
 
@@ -116,16 +115,6 @@ bool RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger::Requ
     std::this_thread::sleep_for(std::chrono::milliseconds(50));
   }
   resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional<double>().value();
-#else
-  command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
-  command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
-
-  while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING)
-  {
-    std::this_thread::sleep_for(std::chrono::milliseconds(50));
-  }
-  resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value();
-#endif
 
   return resp->success;
 }

src/external_dependencies/ros2_robotiq_gripper/robotiq_driver/CMakeLists.txt

@@ -1,4 +1,4 @@
-# See https://docs.ros.org/en/humble/How-To-Guides/Ament-CMake-Documentation.html
+# See https://docs.ros.org/en/jazzy/How-To-Guides/Ament-CMake-Documentation.html
 
 cmake_minimum_required(VERSION 3.8)
 project(robotiq_driver LANGUAGES CXX)
@@ -10,15 +10,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Detect ROS distro for API compatibility
-if(DEFINED ENV{ROS_DISTRO})
-  if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
-    add_compile_definitions(ROS_DISTRO_JAZZY)
-  elseif("$ENV{ROS_DISTRO}" STREQUAL "humble")
-    add_compile_definitions(ROS_DISTRO_HUMBLE)
-  endif()
-endif()
-
 find_package(ament_cmake REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)

src/external_dependencies/ros2_robotiq_gripper/robotiq_driver/include/robotiq_driver/hardware_interface.hpp

@@ -76,13 +76,8 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa
    * @returns CallbackReturn::SUCCESS if required data are provided and can be
    * parsed or CallbackReturn::ERROR if any error happens or data are missing.
    */
-#ifdef ROS_DISTRO_JAZZY
   ROBOTIQ_DRIVER_PUBLIC
   CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams& params) override;
-#else
-  ROBOTIQ_DRIVER_PUBLIC
-  CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
-#endif
 
   /**
    * Connect to the hardware.

src/external_dependencies/ros2_robotiq_gripper/robotiq_driver/src/hardware_interface.cpp

@@ -72,7 +72,6 @@ RobotiqGripperHardwareInterface::RobotiqGripperHardwareInterface(std::unique_ptr
 {
 }
 
-#ifdef ROS_DISTRO_JAZZY
 hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareComponentInterfaceParams& params)
 {
   RCLCPP_DEBUG(kLogger, "on_init");
@@ -81,17 +80,6 @@ hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(cons
   {
     return CallbackReturn::ERROR;
   }
-#else
-hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareInfo& info)
-{
-  RCLCPP_DEBUG(kLogger, "on_init");
-
-  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
-  {
-    return CallbackReturn::ERROR;
-  }
-#endif
-
   // Read parameters.
   gripper_closed_pos_ = stod(info_.hardware_parameters["gripper_closed_position"]);
 

src/external_dependencies/ros2_robotiq_gripper/robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp

@@ -65,7 +65,7 @@ TEST(TestRobotiqGripperHardwareInterface, load_urdf)
              <param name="COM_port">/dev/ttyUSB0</param>
              <param name="gripper_closed_position">0.7929</param>
            </hardware>
-           <joint name="robotiq_85_left_knuckle_joint">
+           <joint name="joint1">
              <command_interface name="position" />
              <state_interface name="position">
                <param name="initial_value">0.7929</param>
@@ -76,12 +76,8 @@ TEST(TestRobotiqGripperHardwareInterface, load_urdf)
        )";
 
   auto urdf = ros2_control_test_assets::urdf_head + urdf_control_ + ros2_control_test_assets::urdf_tail;
-#ifdef ROS_DISTRO_JAZZY
   hardware_interface::ResourceManager rm(urdf, std::make_shared<rclcpp::Clock>(RCL_ROS_TIME),
                                          rclcpp::get_logger("test_robotiq_gripper_hardware_interface"));
-#else
-  hardware_interface::ResourceManager rm(urdf);
-#endif
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());

src/hangar_sim/config/control/picknik_ur.ros2_control.yaml

@@ -239,14 +239,6 @@ joint_trajectory_controller:
       rotational_yaw_joint:
         p: 2.0
         ff_velocity_scale: 1.0
-        # The base yaw is a continuous joint that accumulates past +/-pi over a run. Without wraparound the
-        # velocity controller drives error = command - state literally, so a goal expressed as a 2*pi-shifted
-        # equivalent of the current heading makes the base spin a full turn the long way (the "pirouette" of
-        # moveit_pro#19973). Wrapping the error to the shortest path keeps it on the short arc for any goal
-        # representation. This mitigates the upstream trajectory-representation splice tracked in that issue
-        # but is the correct configuration for a continuous joint regardless. Humble-specific: Jazzy's
-        # joint_trajectory_controller detects continuous joints from the URDF and wraps automatically.
-        angle_wraparound: true
     constraints:
       stopped_velocity_tolerance: 0.0
       goal_time: 0.0

src/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml

@@ -31,7 +31,7 @@
       <Action
         ID="NavigateToPoseAction"
         action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        behavior_tree_path="/opt/ros/jazzy/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
         ignore_stamp_time="true"
         pose_stamped="{goal}"
       />

src/hangar_sim/test/objectives_integration_test.py

@@ -112,8 +112,7 @@
     # reasons.
     "Teleoperate",  # DoTeleoperateAction rejects the goal with no UI subscribed.
     "Marker Visualization Example",  # GetTextFromUser server unavailable headless.
-    # Jazzy CI-runner flakes (pass on the slower humble runner, intermittent on
-    # jazzy). Skipped so the suite is deterministic on both distros.
+    # Intermittent Jazzy CI-runner flakes. Skipped so the suite is deterministic.
     #
     # "Solution - Draw Picknik" is the suite's longest objective and sits on
     # the 90 s execute-timeout boundary on the jazzy runner. When it overruns,

src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/CMakeLists.txt

@@ -8,15 +8,6 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wpedantic)
 endif()
 
-# Detect ROS distro for API compatibility
-if(DEFINED ENV{ROS_DISTRO})
-  if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
-    add_compile_definitions(ROS_DISTRO_JAZZY)
-  elseif("$ENV{ROS_DISTRO}" STREQUAL "humble")
-    add_compile_definitions(ROS_DISTRO_HUMBLE)
-  endif()
-endif()
-
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_ros REQUIRED)

src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp

@@ -80,11 +80,7 @@ void ProtectiveStopManager::recoverFromProtectiveStop(const std_srvs::srv::Trigg
     return;
   }
   auto deactivate_all_controllers_request = std::make_shared<SwitchController::Request>();
-#ifdef ROS_DISTRO_JAZZY
   deactivate_all_controllers_request->deactivate_controllers = all_controller_names;
-#else
-  deactivate_all_controllers_request->stop_controllers = all_controller_names;
-#endif
   // Use BEST_EFFORT strictness because some controllers may already be inactive, and attempting to stop them while
   // using STRICT strictness would introduce an unnecessary error.
   deactivate_all_controllers_request->strictness = SwitchController::Request::BEST_EFFORT;
@@ -113,11 +109,7 @@ void ProtectiveStopManager::recoverFromProtectiveStop(const std_srvs::srv::Trigg
   // This resets the state of the robot controllers to match the state it was in at startup.
   RCLCPP_INFO_STREAM(kLogger, "Reactivating default controllers...");
   auto activate_default_controllers_request = std::make_shared<SwitchController::Request>();
-#ifdef ROS_DISTRO_JAZZY
   activate_default_controllers_request->activate_controllers = active_controller_names;
-#else
-  activate_default_controllers_request->start_controllers = active_controller_names;
-#endif
   // BEST_EFFORT is good enough to put the system back into an operational state without throwing unnecessary errors.
   activate_default_controllers_request->strictness = SwitchController::Request::BEST_EFFORT;
   auto activate_default_controllers_future =