Start adding Jazzy docs

turtlebot · Aug 8, 2024 · 01a809a · 01a809a
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diff --git a/.github/ISSUE_TEMPLATE/1-bug.yml b/.github/ISSUE_TEMPLATE/1-bug.yml
@@ -30,6 +30,7 @@ body:
         - Select One
         - Galactic
         - Humble
+        - Jazzy
     validations:
       required: true
   - type: dropdown
@@ -52,6 +53,7 @@ body:
         - Select One
         - Ubuntu 20.04
         - Ubuntu 22.04
+        - Ubuntu 24.04
         - Other Linux
         - Windows / MAC
     validations:

diff --git a/changelogs/jazzy.md b/changelogs/jazzy.md
@@ -0,0 +1,93 @@
+---
+sort: 3
+---
+
+# TurtleBot 4 Jazzy
+
+TurtleBot 4 RPi4 image changelogs. Latest images are available [here](http://download.ros.org/downloads/turtlebot4/).
+
+## v2.0.0
+
+**OS**: Ubuntu Server 24.04.5 LTS
+
+**ROS**: Jazzy
+
+**Create® 3 Firmware**: I.1.0
+
+### General
+
+- Updated `install.py` to support Jazzy
+- Use `create3_republisher` by default to expose base platform topics from the RPi4
+- Due to technical limitations, the Create3 firmware only supports FastRTPS or CycloneDDS; chaning
+  RMW implementations requires installing the correct firwmare version on the Create3
+- ROS Control changes to use `TwistStamped` messages for velocity control instead of `Twist`
+
+### TurtleBot 4 Packages
+
+<table>
+    <thead>
+        <tr>
+            <th>Package</th>
+            <th>Version</th>
+            <th>Changes</th>
+        </tr>
+    </thead>
+    <tbody>
+        <tr>
+            <td>turtlebot4_base</td>
+            <td>0.1.3</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_bringup</td>
+            <td>0.1.3</td>
+            <td>
+                - Added RPLIDAR Motor start/stop to default menu config
+            </td>
+        </tr>
+        <tr>
+            <td>turtlebot4_description</td>
+            <td>0.1.2</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_diagnostics</td>
+            <td>0.1.3</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_msgs</td>
+            <td>0.1.2</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_navigation</td>
+            <td>0.1.2</td>
+            <td>
+                - Added TurtleBot 4 Navigator <br/>
+                - Fixed AMCL crashing issue <br/>
+                - Install turtlebot4_navigation python module
+            </td>
+        </tr>
+        <tr>
+            <td>turtlebot4_node</td>
+            <td>0.1.2</td>
+            <td>
+                - Added support for Empty service <br/>
+                - Added RPLIDAR motor start/stop service as a function option <br/>
+                - Added timeouts to services (defaults to 30s) <br/>
+                - Updated rclcpp Action api
+            </td>
+        </tr>
+        <tr>
+            <td>turtlebot4_robot</td>
+            <td>0.1.3</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_tests</td>
+            <td>0.1.3</td>
+            <td>-</td>
+        </tr>
+    </tbody>
+</table>
diff --git a/overview/resources.md b/overview/resources.md
@@ -9,6 +9,7 @@ sort: 2
 ### Ubuntu 
   - Ubuntu 20.04 LTS Desktop (Focal Fossa): <https://releases.ubuntu.com/20.04/>
   - Ubuntu 22.04 LTS Desktop (Jammy Jellyfish): <https://releases.ubuntu.com/22.04/>
+  - Ubuntu 24.04 LTS Desktop (Noble Numbat): <https://releases.ubuntu.com/24.04/>
 
 ### Raspberry Pi 
   - Raspberry Pi Imager: <https://www.raspberrypi.com/software/>

diff --git a/setup/basic.md b/setup/basic.md
@@ -38,6 +38,19 @@ Once ROS 2 is installed, install `turtlebot4_desktop`:
 sudo apt update && sudo apt install ros-humble-turtlebot4-desktop
 ```
 
+{% endtab %}
+{% tab installation jazzy %}
+
+Required OS: [Ubuntu 24.04](https://releases.ubuntu.com/24.04/)
+
+Follow [these instructions](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html) to install ROS 2 Jazzy on your PC.
+
+Once ROS 2 is installed, install `turtlebot4_desktop`:
+
+```bash
+sudo apt update && sudo apt install ros-jazzy-turtlebot4-desktop
+```
+
 {% endtab %}
 {% endtabs %}
 
@@ -110,6 +123,26 @@ This will start the TurtleBot 4 setup tool. Navigate to the "Wi-Fi Setup" menu a
 Change your Wi-Fi mode to 'Client' when connecting to an existing network.
 ```
 
+{% endtab %}
+{% tab wifi jazzy %}
+
+In your SSH session, run the [TurtleBot 4 setup tool](../software/turtlebot4_setup.md#configuration-tools):
+
+```bash
+turtlebot4-setup
+```
+
+This will start the TurtleBot 4 setup tool. Navigate to the "Wi-Fi Setup" menu and configure your connection. When you have finished, save and apply the settings.
+
+<figure class="aligncenter">
+    <img src="media/wifi_setup.gif" alt="Wi-Fi setup" style="width: 100%"/>
+    <figcaption>Wi-Fi Setup using the TurtleBot 4 Setup tool</figcaption>
+</figure>
+
+```note
+Change your Wi-Fi mode to 'Client' when connecting to an existing network.
+```
+
 {% endtab %}
 {% endtabs %}
 
@@ -148,6 +181,18 @@ export ROS_DOMAIN_ID=0
 ros2 topic echo /ip
 ```
 
+{% endtab %}
+{% tab ip jazzy %}
+
+On your PC, run the following commands:
+
+```bash
+source /opt/ros/humble/setup.bash
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+export ROS_DOMAIN_ID=0
+ros2 topic echo /ip
+```
+
 {% endtab %}
 {% endtabs %}
 
@@ -279,6 +324,17 @@ turtlebot4-setup
 
 Go to <b>Wi-Fi Setup</b> and select <b>Apply Defaults</b>. Optionally you can set your own SSID and password before saving and applying the new settings.
 
+{% endtab %}
+{% tab ap jazzy %}
+
+SSH into the Raspberry Pi and run the [TurtleBot 4 setup tool](../software/turtlebot4_setup.md#configuration-tools):
+
+```bash
+turtlebot4-setup
+```
+
+Go to <b>Wi-Fi Setup</b> and select <b>Apply Defaults</b>. Optionally you can set your own SSID and password before saving and applying the new settings.
+
 {% endtab %}
 {% endtabs %}