Competition

.devcontainer/Dockerfile

@@ -1,4 +1,5 @@
-FROM ros:jazzy
+ARG BASE_IMAGE=ros:humble
+FROM ${BASE_IMAGE}
 ARG USERNAME=$USERNAME
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
@@ -26,8 +27,7 @@ ENV ENABLE_LIDAR=$LIDAR_ENABLED
 RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
 
 # Create the user
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+RUN useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
     #
     # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
     && apt-get update \
@@ -40,15 +40,16 @@ RUN apt-get update && apt-get upgrade -y
 RUN apt-get install -y \
     python3-pip \
     # CycloneDDS package
-    ros-jazzy-rmw-cyclonedds-cpp 
+    ros-humble-rmw-cyclonedds-cpp \
+    libturbojpeg
 
 ## Simulation only
 RUN if $SIM_ENABLED ; then \
         apt-get install -y \
             # RQT packages
-            ros-jazzy-rqt-tf-tree ros-jazzy-rqt-graph ros-jazzy-rqt-image-view \
+            ros-humble-rqt-tf-tree ros-humble-rqt-graph ros-humble-rqt-image-view \
             # Teleop control keyboard
-            ros-jazzy-teleop-twist-keyboard \
+            ros-humble-teleop-twist-keyboard \
             # External terminal
             # TODO: Figure out how to do on mac
             gnome-terminal dbus-x11 ; \
@@ -90,38 +91,45 @@ RUN if $IMU_ENABLED ; then \
     fi
 
 ## CUDA 
-RUN if $ZED_DEV_PLATFORM ; then \
-        apt-get install -y \
-            zstd pciutils mesa-utils wget gnupg \
         # TODOs:
         #   Figure out mounting CUDA from host
-        && if [ ! $MOUNT_CUDA ] ; then \
-            wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/cuda-keyring_1.1-1_all.deb \
-            && dpkg -i cuda-keyring_1.1-1_all.deb \
-            && apt-get update \
-            && apt-get install -y cuda-toolkit-13-0 ; \
-        fi ; \
+        # && if [ ! $MOUNT_CUDA ] ; then \
+        #     wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/cuda-keyring_1.1-1_all.deb \
+        #     && dpkg -i cuda-keyring_1.1-1_all.deb \
+        #     && apt-get update \
+        #     && apt-get install -y cuda-toolkit-13-0 ; \
+        # fi ; \
+
+RUN if $ZED_DEV_PLATFORM ; then \
+        apt-get install -y \
+            zstd pciutils mesa-utils wget gnupg ; \
     fi
 
 ## ZED SDK
-RUN if $ZED_DEV_PLATFORM ; then \
-        # Determine Zed link based on platform
-        case $PLATFORM in \
-            LINUX) \
-                export ZED_LINK="https://download.stereolabs.com/zedsdk/5.2/cu13/ubuntu24" \
-                ;; \
-            JETSON_ORIN) \
-                export ZED_LINK="https://download.stereolabs.com/zedsdk/5.2/l4t36.5/jetsons" \
-                ;; \
-            JETSON_THOR) \
-                export ZED_LINK="https://download.stereolabs.com/zedsdk/5.2/l4t38.4/jetsons" \
-                ;; \
-        esac \
-        # Install SDK
-        && wget -O zed_installer.run $ZED_LINK \
-        && chmod +x zed_installer.run \
-        && ./zed_installer.run -- silent --skip_python --skip_cuda; \
-fi
+# RUN if $ZED_DEV_PLATFORM ; then \
+#         # Determine Zed link based on platform
+#         case $PLATFORM in \
+#             LINUX) \
+#                 export ZED_LINK="https://download.stereolabs.com/zedsdk/5.2/cu13/ubuntu24" \
+#                 ;; \
+#             JETSON_ORIN) \
+#                 export ZED_LINK="https://download.stereolabs.com/zedsdk/5.2/l4t36.5/jetsons" \
+#                 ;; \
+#             JETSON_THOR) \
+#                 export ZED_LINK="https://download.stereolabs.com/zedsdk/5.2/l4t38.4/jetsons" \
+#                 ;; \
+#         esac \
+#         # Install SDK
+#         && wget -O zed_installer.run $ZED_LINK \
+#         && chmod +x zed_installer.run \
+#         && ./zed_installer.run -- silent ; \
+# fi
+
+# RUN wget -q --no-check-certificate -O ZED_SDK_Linux.run https://download.stereolabs.com/zedsdk/5.2/l4t36.5/jetsons && \
+#     chmod +x ZED_SDK_Linux.run ; ./ZED_SDK_Linux.run silent skip_tools skip_drivers && \
+#     rm -rf /usr/local/zed/resources/* \
+#     rm -rf ZED_SDK_Linux.run && \
+#     rm -rf /var/lib/apt/lists/*
 
 ENV SHELL /bin/bash
 

.devcontainer/devcontainer.json

@@ -37,10 +37,9 @@
 
     ],
     "mounts": [
-
        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached"
     ],
-    "postCreateCommand": ". .devcontainer/setup.bash && sudo rosdep update --rosdistro=jazzy && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=jazzy && sudo chown -R $(whoami) /home/ros2_ws/ && sudo chmod a+rw . -R && (rm -r build/ || true) && colcon build --symlink-install --packages-skip-regex zed_*",
+    "postCreateCommand": ". .devcontainer/setup.bash && sudo rosdep update --rosdistro=humble && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=humble && sudo chown -R $(whoami) /home/ros2_ws/ && sudo chmod a+rw . -R && (rm -r build/ || true) && colcon build --symlink-install --packages-skip-regex zed_*",
     "forwardPorts": [8765]
 }

.devcontainer/hardware/devcontainer.json

@@ -8,7 +8,9 @@
             "USERNAME": "ros_user",
             "PLATFORM": "JETSON_ORIN",
             "SIM_ENABLED": "false",
-            "DEPLOYABLE_BUILD": "true"
+            "DEPLOYABLE_BUILD": "true",
+            "BASE_IMAGE": "ros2-l4t:humble-zed",
+            "IMU_ENABLED": "false"
         }
     },
     "workspaceFolder": "/home/ros2_ws",
@@ -36,13 +38,14 @@
         "NVIDIA_VISIBLE_DEVICES": "all",
         "NVIDIA_DRIVER_CAPABILITES": "all",
         "WAYLAND_DISPLAY": "${env:WAYLAND_DISPLAY}",
-        "LD_LIBRARY_PATH": "/usr/lib/wsl/lib",
         "MESA_D3D12_DEFAULT_ADAPTER_NAME": "NVIDIA",
         "MESA_LOADER_DRIVER_OVERRIDE": "d3d12",
         "GALLIUM_DRIVER": "d3d12",
-        "LIBGL_ALWAYS_INDIRECT": "0"
+        "LIBGL_ALWAYS_INDIRECT": "0",
 
-    },
+        "ZED_SDK_ROOT_DIR": "/usr/local/zed",
+        "CUDA_HOME": "/usr/local/cuda"
+        },
     "runArgs": [
         "--net=host",
         "--pid=host",
@@ -55,12 +58,12 @@
 
     ],
     "mounts": [
-       "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
+       "source=/dev/,target=/dev/,type=bind,consistency=cached",
        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
-       "source=/usr/lib/wsl,target=/usr/lib/wsl,type=bind,consistency=cached",
-       "source=/usr/lib/x86_64-linux-gnu/dri,target=/usr/lib/x86_64-linux-gnu/dri,type=bind,consistency=cached",
-       "source=//usr/share/glvnd,target=/usr/share/glvnd,type=bind,consistency=cached"
+       "source=//usr/share/glvnd,target=/usr/share/glvnd,type=bind,consistency=cached",
+       "source=/usr/local/zed,target=/usr/local/zed,type=bind,consistency=cached",
+       "source=/usr/local/cuda,target=/usr/local/cuda,type=bind,consistency=cached" 
     ],
-    "postCreateCommand": ". .devcontainer/setup.bash && sudo rosdep update --rosdistro=jazzy && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=jazzy && sudo chown -R $(whoami) /home/ros2_ws/ && sudo chmod a+rw . -R && (rm -r build/ || true) && colcon build --symlink-install --packages-skip-regex zed_*",
+    "postCreateCommand": ". .devcontainer/setup.bash && sudo rosdep update --rosdistro=humble && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=humble && sudo chown -R $(whoami) /home/ros2_ws/ && sudo chmod a+rw . -R && (rm -r build/ || true) && colcon build --symlink-install",
     "forwardPorts": [8765]
-}
+}

.devcontainer/macos/devcontainer.json

@@ -34,6 +34,6 @@
     "runArgs": [
         "-p", "5900:5900"
     ],
-    "postCreateCommand": ". .devcontainer/setup.bash && sudo rosdep update --rosdistro=jazzy && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=jazzy && sudo chown -R $(whoami) /home/ros2_ws/ && sudo chmod a+rw . -R && (rm -r build/ install/ || true) && colcon build --symlink-install --packages-skip-regex zed_*",
+    "postCreateCommand": ". .devcontainer/setup.bash && sudo rosdep update --rosdistro=humble && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=humble && sudo chown -R $(whoami) /home/ros2_ws/ && sudo chmod a+rw . -R && (rm -r build/ install/ || true) && colcon build --symlink-install --packages-skip-regex zed_*",
     "forwardPorts": [5900]
 }

.devcontainer/nvidia/devcontainer.json

@@ -55,6 +55,6 @@
        "source=/usr/lib/x86_64-linux-gnu/dri,target=/usr/lib/x86_64-linux-gnu/dri,type=bind,consistency=cached",
        "source=//usr/share/glvnd,target=/usr/share/glvnd,type=bind,consistency=cached"
     ],
-    "postCreateCommand": ". .devcontainer/setup.bash && sudo rosdep update --rosdistro=jazzy && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=jazzy && sudo chown -R $(whoami) /home/ros2_ws/ && sudo chmod a+rw . -R && (rm -r build/ || true) && colcon build --symlink-install --packages-skip-regex zed_*",
+    "postCreateCommand": ". .devcontainer/setup.bash && sudo rosdep update --rosdistro=humble && sudo rosdep install --from-paths lib src --ignore-src -y --rosdistro=humble && sudo chown -R $(whoami) /home/ros2_ws/ && sudo chmod a+rw . -R && (rm -r build/ || true) && colcon build --symlink-install --packages-skip-regex zed_*",
     "forwardPorts": [8765]
 }

.devcontainer/setup.bash

@@ -1,12 +1,12 @@
-cd /home/ros2_ws
+cd ~/2026RobotCode
 
 mkdir -p lib
 cd lib
 
 apt-get update --fix-missing
 apt-get upgrade -y
 
-. /opt/ros/jazzy/setup.sh
+. /opt/ros/humble/setup.sh
 
 
 if [ ! -d "rplidar_ros" ] && $ENABLE_LIDAR ; then 
@@ -17,6 +17,11 @@ if [ ! -d "ros_odrive" ] && $ENABLE_ODRIVE ; then
     git clone https://github.com/odriverobotics/ros_odrive.git
 fi
 
+if [ ! -d zed-ros2-wrapper ] && $HAS_ZED_DEPS; then 
+    git clone https://github.com/stereolabs/zed-ros2-wrapper.git
+fi
+
+
 if $ENABLE_IMU; then 
     if [ ! -d "imu_ros2" ]; then
         git clone https://github.com/analogdevicesinc/imu_ros2.git
@@ -75,9 +80,9 @@ fi
 
 cd ..
 
-echo '. /opt/ros/jazzy/setup.sh' >> ~/.bashrc
+echo '. /opt/ros/humble/setup.sh' >> ~/.bashrc
 
-echo ' if [ -d '/home/ros2_ws/install' ]; then 
-    . /home/ros2_ws/install/setup.bash
+echo ' if [ -d '~/2026RobotCode/install' ]; then 
+    . ~/2026RobotCode/install/setup.bash
 fi ' >> ~/.bashrc
 

.vscode/tasks.json

@@ -18,6 +18,7 @@
 			},
 			"label": "colcon: Colcon Build Release"
 		},
+
 		{
 			"type": "colcon",
 			"args": [
@@ -67,13 +68,13 @@
 		{
 			"label": "IGVC: Open input keyboard",
 			"type": "shell",
-			"command": "source install/setup.bash; gnome-terminal --title 'Teleop twist keyboard' -- sh -c 'ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/bot_drive_controller/cmd_vel -p use_sim_time:=true -p stamped:=true' -norc",
+			"command": "source install/setup.bash; gnome-terminal --title 'Teleop twist keyboard' -- sh -c 'ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/teleop/cmd_vel -p use_sim_time:=true -p stamped:=false' -norc",
 			"problemMatcher": []
 		},
 		{
 			"label": "IGVC: Open RTAB",
 			"type": "shell",
-			"command": "source install/setup.bash; ros2 launch igvc_slam sim_rtabmap.launch.py",
+			"command": "source install/setup.bash; ros2 launch igvc_slam igvc_slam.launch",
 			"problemMatcher": []
 		},
 		{

docs/MACOS_SETUP.md

@@ -69,15 +69,15 @@ Once inside the container, ROS 2 commands require sourcing the setup file.
 ### Source ROS 2 (required each new terminal)
 
 ```bash
-source /opt/ros/jazzy/setup.bash
+source /opt/ros/humble/setup.bash
 ```
 
 ### Make it permanent
 
 Run this once to automatically source ROS 2 in every new terminal:
 
 ```bash
-echo 'source /opt/ros/jazzy/setup.bash' >> ~/.bashrc
+echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
 ```
 
 ### Verify ROS 2 is working

microcontroller_led.cpp

@@ -0,0 +1,32 @@
+#include <FastLED.h>
+#define pinNumber 16
+int pinState = 0;
+
+#define NUM_LEDS 60
+#define DATA_PIN 3
+CRGB leds[NUM_LEDS];
+
+void setup() {
+  pinMode(pinNumber, INPUT);
+  FastLED.addLeds<WS2812B, DATA_PIN, GRB>(leds, NUM_LEDS);
+
+  for (int i = 0; i < NUM_LEDS; i++) {
+    leds[i] = CRGB::Yellow;
+  }
+  FastLED.show();
+
+}
+
+void loop() {
+  if (pinState != digitalRead(pinNumber)) {
+    pinState = !pinState;
+    if (pinState) {
+      for (int i = 0; i < NUM_LEDS; i++) {
+        leds[i] = CRGB::Green;
+      }
+    } else {
+      FastLED.clear();
+    }
+    FastLED.show();
+  }
+}

src/compass_bridge/compass_bridge/compass_bridge.py

@@ -0,0 +1,80 @@
+from .compass_driver import Compass
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float32
+from sensor_msgs.msg import Imu
+import sys
+import math
+
+class CompassNode(Node):
+    def __init__(self):
+        super().__init__('compass_bridge')
+        self.get_logger().info("compass bridge started")
+
+        self.declare_parameter('i2c_bus', 7)
+        self.declare_parameter('device_address', 0x0E)
+        self.declare_parameter('config_filepath', '/home/rpirobo3/2026RobotCode/src/igvc_hardware/config/compass_config.yaml')
+
+        # Create Compass
+        self._instance = Compass(
+            i2c_bus=self.get_parameter('i2c_bus').get_parameter_value().integer_value,
+            address=self.get_parameter('device_address').get_parameter_value().integer_value,
+            CONFIG_FILEPATH=self.get_parameter('config_filepath').get_parameter_value().string_value,
+            logger=self.get_logger()
+        )
+
+        # Create Publisher
+        self.publisher_ = self.create_publisher(Imu, 'compass', 10)
+        self.timer = self.create_timer(0.5, self.timer_callback)
+
+    def cleanup(self):
+        try:
+            self._instance.cleanup()
+        except Exception as e:
+            self.get_logger().error(f"Error during cleanup: {e}")
+
+    def timer_callback(self):
+        try:
+            heading = self._instance.get_heading()
+            if heading is not None:
+                heading_yaw = math.radians(heading)
+                imu_msg = Imu()
+                imu_msg.header.stamp = self.get_clock().now().to_msg()
+                imu_msg.header.frame_id = 'imu_link'
+
+
+                half_yaw = heading_yaw * 0.5
+
+                imu_msg.orientation.x = 0.0
+                imu_msg.orientation.y = 0.0
+                imu_msg.orientation.z = math.sin(half_yaw)
+                imu_msg.orientation.w = math.cos(half_yaw)
+
+                imu_msg.orientation_covariance[0] = -1.0
+                imu_msg.angular_velocity_covariance[0] = -1.0
+                imu_msg.linear_acceleration_covariance[0] = -1.0
+
+                self.publisher_.publish(imu_msg)
+
+        except Exception as e:
+            self.get_logger().error(f"Error in timer callback: {e}")
+
+
+
+def main(args=None):
+    try:
+        rclpy.init(args=args)
+        node = None
+        node = CompassNode()
+        rclpy.spin(node)
+    finally:
+        if node is not None:
+            node.cleanup()
+            node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()