You're reading the documentation for a development version. For the latest released version, please have a look at Iron.
Jazzy Jalisco (jazzy
)
Jazzy Jalisco is the tenth release of ROS 2. What follows is highlights of the important changes and features in Jazzy Jalisco since the last release. For a list of all of the changes since Iron, see the long form changelog
Supported Platforms
Jazzy Jalisco is primarily supported on the following platforms:
Tier 1 platforms:
Ubuntu 24.04 (Noble):
amd64
andarm64
Windows 10 (Visual Studio 2019):
amd64
Tier 2 platforms:
RHEL 9:
amd64
Tier 3 platforms:
macOS:
amd64
Debian Bookworm:
amd64
For more information about RMW implementations, compiler / interpreter versions, and system dependency versions see REP 2000.
Installation
Changes to how ROS 2 and Gazebo integrate
Starting with Jazzy Jalisco, we are streamlining how ROS 2 and Gazebo integrate. For every ROS 2 release, there will be a recommended, supported Gazebo release that goes along with that release. For Jazzy Jalisco, the recommended Gazebo release will be Harmonic.
To make it easier for ROS 2 packages to consume Gazebo packages, there are now gz_*_vendor
packages.
Those packages are:
gz_common_vendor: https://github.com/gazebo-release/gz_common_vendor
gz_cmake_vendor: https://github.com/gazebo-release/gz_cmake_vendor
gz_math_vendor: https://github.com/gazebo-release/gz_math_vendor
gz_transport_vendor: https://github.com/gazebo-release/gz_transport_vendor
gz_sensor_vendor: https://github.com/gazebo-release/gz_sensor_vendor
gz_sim_vendor: https://github.com/gazebo-release/gz_sim_vendor
gz_tools_vendor: https://github.com/gazebo-release/gz_tools_vendor
gz_utils_vendor: https://github.com/gazebo-release/gz_utils_vendor
sdformat_vendor: https://github.com/gazebo-release/sdformat_vendor
ROS 2 packages can use the functionality in these packages by adding dependencies in package.xml
, e.g.:
<depend>gz_math_vendor</depend>
And then using them in CMakeLists.txt
, e.g.:
find_package(gz_math_vendor REQUIRED)
find_package(gz-math)
add_executable(my_executable src/exe.cpp)
target_link_libraries(my_executable gz-math::core)
Note
It will still be possible to use alternate Gazebo versions with Jazzy Jalisco. But those will not be as well tested or integrated with ROS 2. See https://gazebosim.org/docs/harmonic/ros_installation for more information.
New features in this ROS 2 release
common_interfaces
New VelocityStamped message
Added a new message with all fields needed to define a velocity and transform it.
See https://github.com/ros2/common_interfaces/pull/240 for more details.
Adds ARROW_STRIP to Marker.msg
Added new type of Marker, ARROW_STRIP
, to Marker.msg.
See https://github.com/ros2/common_interfaces/pull/242 for more details.
image_transport
Support lazy subscribers
See https://github.com/ros-perception/image_common/issues/272 for more details.
Expose option to set callback groups
See https://github.com/ros-perception/image_common/issues/274 for more details.
Enable allow list
Added parameter so users can selectively disable image_transport
plugins at runtime.
See https://github.com/ros-perception/image_common/issues/264 for more details.
Advertise and subscribe with custom QoS
Allow users to pass in a custom quality-of-service when creating image_transport
publishers and subscribers.
See https://github.com/ros-perception/image_common/issues/288 for more detatils.
Added rclcpp component to Republish
Users can now start the image_transport
republisher node as an rclcpp_component.
See https://github.com/ros-perception/image_common/issues/275 for more details.
message_filters
TypeAdapters support
Allows users to use Type Adaptation within message_filters.
See https://github.com/ros2/message_filters/pull/96 for more information.
rclcpp
Type support helper for services
New type support helper for services rclcpp::get_service_typesupport_handle
is added to extract service type support handle.
See https://github.com/ros2/rclcpp/pull/2209 for more details.
ros2cli
Added a --log-file-name
command line argument
It is now possible to use --log-file-name
command line argument to specify the log file name prefix.
ros2 run demo_nodes_cpp talker --ros-args --log-file-name filename
See https://github.com/ros2/ros2cli/issues/856 for more information.
ros2action
type
sub-command supported
It is now possible to use the type
sub-command to check the action type.
ros2 action type /fibonacci
action_tutorials_interfaces/action/Fibonacci
See https://github.com/ros2/ros2cli/pull/894 for more information.
rosbag2
Service recording and playback
It is now possible to record and play service data with the ros2bag
command line interface.
This features builds on Service Introspection, which has been available since Iron Irwini. Service recording and display adds the ability to record service data into a bag file. And Service playback can play that service data from the bag file.
Record all services data:
ros2 bag record --all-services
Record all services data with all topic data:
ros2 bag record --all
Play service data from bag file:
ros2 bag play --publish-service-requests bag_path
See the design document for more information.
New filter modes
It is now possible to filter by topic type.
ros2 bag record --topic_types sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo
ros2 bag record --topic_types sensor_msgs/msg/Image
See more details https://github.com/ros2/rosbag2/pull/1577 and https://github.com/ros2/rosbag2/pull/1582.
Added introspection QoS methods to Python bindings
It is now possible to instrospect QoS setting from Python bindings.
See https://github.com/ros2/rosbag2/pull/1648 for more details.
rosidl
Added interfaces to support key annotation
The key
annotation allows indicating that a data member is part of the key, which can have zero or more key fields and can be applied to structure fields of various types.
See https://github.com/ros2/rosidl/pull/796 and https://github.com/ros2/rosidl_typesupport_fastrtps/pull/116 for more details.
rviz2
Added regex filter field for TF display
When there are many frames on /tf
it can be hard to properly visualize them in RViz, especially if frames overlap.
The usual solution to this is to enable and disable desired frames in Frames field of the TF display.
Now it is possible to filter frames using regular expressions.
See https://github.com/ros2/rviz/pull/1032 for more details.
Append measured subscription frequency to topic status
It is possible to visualize Hz in the topic status widget.
See https://github.com/ros2/rviz/issues/1113 for more details.
Reset functionality
It is possible to reset Time using a new service or using the shorcut R
.
See https://github.com/ros2/rviz/issues/1109 and https://github.com/ros2/rviz/issues/1088 for more details.
Added support for point_cloud_transport
It is possible to subscribe to point clouds using the point_cloud_transport
package.
See https://github.com/ros2/rviz/pull/1008 for more details.
Feature parity with RViz for ROS
It is possible to use the same plugins available in the ROS 1 version.
DepthCloud
AccelStamped
TwistStamped
WrenchStamped
Effort
Camera info display
It is possible to visualize CameraInfo messages in the 3D scene.
See https://github.com/ros2/rviz/pull/1166 for more details.
Changes since the Iron release
common_interfaces
Added IDs to geometry_msgs/Polygon and PolygonStamped
Polygons are often used to represent specific objects but are difficult to rectify currently without any kind of specific identification. This feature adds an ID field to disambiguate polygons.
See https://github.com/ros2/common_interfaces/pull/232 for more details.
geometry2
Removed deprecated headers
In Humble, the headers: tf2_bullet/tf2_bullet.h
, tf2_eigen/tf2_eigen.h
, tf2_geometry_msgs/tf2_geometry_msgs.h
,
tf2_kdl/tf2_kdl.h
, tf2_sensor_msgs/tf2_sensor_msgs.h
were deprecated in favor of: tf2_bullet/tf2_bullet.hpp
,
tf2_eigen/tf2_eigen.hpp
, tf2_geometry_msgs/tf2_geometry_msgs.hpp
, tf2_kdl/tf2_kdl.hpp
, tf2_sensor_msgs/tf2_sensor_msgs.hpp
In Jazzy, the tf2_bullet/tf2_bullet.h
, tf2_eigen/tf2_eigen.h
, tf2_geometry_msgs/tf2_geometry_msgs.h
,
tf2_kdl/tf2_kdl.h
, tf2_sensor_msgs/tf2_sensor_msgs.h
headers have been completely removed.
Changed return types of wait_for_transform_async
and wait_for_transform_full_async
Previously wait_for_transform_async
and wait_for_transform_full_async
of the Buffer
class returned a future containing true or false
In Jazzy, the future will contain the information of the transform being waited on.
Enabled Twist interpolator
Included new API to lookup the velocity of the moving frame in the reference frame.
See https://github.com/ros2/geometry2/pull/646 for more information.
rclcpp
rclcpp::get_typesupport_handle
is deprecated
The rclcpp::get_typesupport_handle
that extracts message type support handle is deprecated, and will be removed in a future release.
Instead, rclcpp::get_message_typesupport_handle
should be used.
See https://github.com/ros2/rclcpp/pull/2209 for more details.
Deprecated rclcpp/qos_event.hpp
header was removed
In Iron, the header rclcpp/qos_event.hpp
was deprecated in favor of rclcpp/event_handler.hpp
.
In Jazzy, the rclcpp/qos_event.hpp
header has been completely removed.
Deprecated subscription callback signatures were removed
Back in Humble, subscription signatures of the form void callback(std::shared_ptr<MessageT>)
and void callback(std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)
were deprecated.
In Jazzy, these subscription signatures have been removed.
Users should switch to using void callback(std::shared_ptr<const MessageT>)
or void callback(std::shared_ptr<const MessageT>, const rclcpp MessageInfo &)
.
rclpy
rclpy.node.Node.declare_parameter
The rclpy.node.Node.declare_parameter
does not allow statically typing parameter without a default value.
See https://github.com/ros2/rclpy/pull/1216 for more details.
rqt_bag
Improved performance and updated rosbag API
There are some breaking changes in the rosbag2 API and Ubuntu Nobel libraries versions that required some changes to use rqt_bag.
See https://github.com/ros-visualization/rqt_bag/pull/156 for more details.
Development progress
For progress on the development of Jazzy Jalisco, see this project board.
For the broad process followed by Jazzy Jalisco, see the process description page.
Known Issues
To come.
Release Timeline
- November, 2023 - Platform decisions
REP 2000 is updated with the target platforms and major dependency versions.
- By January, 2024 - Rolling platform shift
Build farm is updated with the new platform versions and dependency versions for Jazzy Jalisco.
- Mon. April 8, 2024 - Alpha + RMW freeze
Preliminary testing and stabilization of ROS Base [1] packages, and API and feature freeze for RMW provider packages.
- Mon. April 15, 2024 - Freeze
API and feature freeze for ROS Base [1] packages in Rolling Ridley. Only bug fix releases should be made after this point. New packages can be released independently.
- Mon. April 22, 2024 - Branch
Branch from Rolling Ridley.
rosdistro
is reopened for Rolling PRs for ROS Base [1] packages. Jazzy development shifts fromros-rolling-*
packages toros-jazzy-*
packages.- Mon. April 29, 2024 - Beta
Updated releases of ROS Desktop [2] packages available. Call for general testing.
- Wed, May 1, 2024 - Kick off of Tutorial Party
Tutorials hosted at https://github.com/osrf/ros2_test_cases are open for community testing.
- Mon. May 13, 2024 - Release Candidate
Release Candidate packages are built. Updated releases of ROS Desktop [2] packages available.
- Mon. May 20, 2024 - Distro Freeze
Freeze rosdistro. No PRs for Jazzy on the
rosdistro
repo will be merged (reopens after the release announcement).- Thu. May 23, 2024 - General Availability
Release announcement.
rosdistro
is reopened for Jazzy PRs.