ROS 2 Jazzy on the Onboard PC

Balto's onboard PC runs ROS 2 Jazzy. We work with it from a Python virtual environment (venv) on the onboard PC.

Using the venv

(to do) — fill in the real path and commands, e.g.:

source ~/<venv-folder>/bin/activate
source /opt/ros/jazzy/setup.bash

Notes

(to do) — record:

• the onboard PC's Ubuntu version,
• where the venv is and what was installed into it (pip list),
• why a venv was needed.

References

• ROS 2 Jazzy docs
• ROS 2 Jazzy: using Python packages / virtual environments

Build environment (workspace ~/husky_ws)

Sorted out after a long session; follow these rules to avoid repeating it.

• The real workspace is ~/husky_ws. Copies of the packages in ~ are debris — never build from home.
• The shipped install/ was a Humble build from another machine, so it was rebuilt from scratch. Only Jazzy is installed; the old Humble references were dead text in the stale tree.
• husky_interfaces builds with the system Python.
• husky_rl and husky_control must be built with python -m colcon with the venv active, after deleting their build/ and install/ directories. Otherwise the console scripts get a system-Python shebang and can't find pathfinding.
• The venv needs stable_baselines3 and CPU-only torch. The NumPy 2.x warning from cv2 is harmless.