Jazzy install and distro updates (#856)

moveit · Jun 28, 2024 · 81aabc4 · 81aabc4
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diff --git a/_includes/nav-bar.html b/_includes/nav-bar.html
@@ -30,7 +30,7 @@
             </a>
             <div class="dropdown-menu" aria-labelledby="navbarDropdownInstall">
               <a class="dropdown-item" href="/install">MoveIt 1</a>
-              <a class="dropdown-item" href="/install-moveit2/source/">MoveIt 2</a>
+              <a class="dropdown-item" href="/install-moveit2/binary/">MoveIt 2</a>
             </div>
           </li>
           <li class="nav-item dropdown">

diff --git a/_includes/release-progress.html b/_includes/release-progress.html
@@ -1,5 +1,5 @@
 <div class='col-sm-12 time-line-wrappper time-line-wrapper-future'>
-  <h3>MoveIt Jazzy</h3>
+  <h3>MoveIt K</h3>
   <a class="button button-transparent" href="/documentation/contributing/roadmap/">SEE ROADMAP</a>
   <div class="time-line">
     <div class="time-line--orange" id="time-line--orange-1"></div>
@@ -8,31 +8,31 @@ <h3>MoveIt Jazzy</h3>
   </div>
   <div class="time-line-content">
     <div class="time-line--info">
-      <p>May 2023</p>
+      <p>June 2024</p>
     </div>
     <div class="time-line--info">
       <span class="time-line-box time-line-box--blue"></span>
       <p>
-      <strong class="color-blue">Initial Development</strong>
-      <small>1 July 2023</small>
+      <strong class="color-blue">Development</strong>
+      <small>1 July 2024</small>
       </p>
     </div>
     <div class="time-line--info">
       <span class="time-line-box time-line-box--orange"></span>
       <p>
       <strong class="color-orange">Feature Freeze</strong>
-      <small>30 March 2024</small>
+      <small>30 March 2025</small>
       </p>
     </div>
     <div class="time-line--info">
       <span class="time-line-box time-line-box--red"></span>
       <p>
       <strong class="color-red">Official Release</strong>
-      <small>31 May 2024</small>
+      <small>1 June 2025</small>
       </p>
     </div>
     <div class="time-line--info">
-      <p>May 2024</p>
+      <p>June 2025</p>
     </div>
   </div>
 </div>
diff --git a/about/distribution/index.markdown b/about/distribution/index.markdown
@@ -26,11 +26,17 @@ title: Distribution
       </thead>
       <tbody>
         <tr>
-          <td><a href="https://moveit.picknik.ai/main/index.html">MoveIt Rolling</a></td>
+          <td><a href="https://moveit.picknik.ai/main/index.html">MoveIt 2 Rolling</a></td>
           <td>2021</td>
           <td><img src="/assets/images/distribution/moveIt-rolling.jpg" alt="MoveIt Rolling" height="100" /></td>
           <td>N/A</td>
         </tr>
+        <tr>
+          <td><a href="https://moveit.picknik.ai/main/index.html">MoveIt 2 Jazzy</a></td>
+          <td>May 23, 2024</td>
+          <td><img src="/assets/images/distribution/moveit-jazzy.png" alt="MoveIt 2 Iron" height="100" /></td>
+          <td>May 2029</td>
+        </tr>
         <tr>
           <td><a href="https://moveit.picknik.ai/main/index.html">MoveIt 2 Iron</a></td>
           <td>May 23, 2023</td>

diff --git a/assets/images/distribution/moveit-jazzy.png b/assets/images/distribution/moveit-jazzy.png
diff --git a/documentation/contributing/roadmap/index.markdown b/documentation/contributing/roadmap/index.markdown
@@ -8,7 +8,7 @@ title: MoveIt Roadmap
 
 <div class='row'>
   <div class='col-sm-12 col-lg-6'>
-    <h1>MoveIt Roadmap 2022</h1>
+    <h1>MoveIt Roadmap</h1>
     <p class="paragraph-big">
       As an open source project, we rely on everyone to get involved with contributions of new features and bug improvements. Financial support in the form of grants and code sprints are of course welcomed too! Please <a href="https://picknik.ai/connect/" target="_blank">contact us</a> if you’re interested in supporting these efforts.
     </p>
@@ -18,7 +18,6 @@ title: MoveIt Roadmap
   </div>
 </div>
 <div class="row current-version roadmap-current-version">
-    <a class="button button-transparent button-transparent__blue" href="https://app.zenhub.com/workspaces/moveit-61675936b391800012280f6d/roadmap">Detailed Roadmap on ZenHub</a>
 
     <!-- Release progress bar -->
     {% include release-progress.html %}
@@ -275,7 +274,9 @@ title: MoveIt Roadmap
         </div>
       </div>
       </details>
-      <div class="release-versions__content">
+      <details style="width:100%;padding-left:0px;background-color:Gray">
+      <summary style=";padding:3px"><b>2023</b></summary>
+      <div class="release-versions__content" style="background-color:PaleGreen">
         <div class="release-versions__1">
           <h3>GSoC: Create Python bindings for MoveIt 2</h3>
           <p>
@@ -285,7 +286,7 @@ title: MoveIt Roadmap
           </p>
         </div>
         <div class="release-versions__status">
-          <b>In Review</b><br>
+          <b>Completed</b><br>
         </div>
         <div class="release-versions__2">
 	  February 2023
@@ -315,6 +316,7 @@ title: MoveIt Roadmap
           Osaka University
         </div>
       </div>
+      </details>
       <div class="release-versions__content">
         <div class="release-versions__1">
           <h3>Make ROS&nbsp;2 parameters more dynamic and easier to use</h3>
@@ -327,7 +329,7 @@ title: MoveIt Roadmap
           <strong>In Progress</strong><br/>
         </div>
         <div class="release-versions__2">
-	  February 2023
+	  TBD
         </div>
         <div class="release-versions__3">
           <div class="release-versions__divide">
@@ -350,14 +352,13 @@ title: MoveIt Roadmap
           </p>
         </div>
         <div class="release-versions__status">
-          <b>In Progress</b><br>
+          <b>Needs Funding</b><br>
         </div>
         <div class="release-versions__2">
-	  February 2023
+	  <strong>TBD</strong>
         </div>
         <div class="release-versions__3">
-          <strong>Vatan Aksoy Tezer</strong><br/>
-          Rapyuta Robotics
+          <strong>TBD</strong><br/>
         </div>
       </div>
       <div class="release-versions__content" style="background-color:WhiteSmoke">

diff --git a/index.markdown b/index.markdown
@@ -53,11 +53,11 @@ redirect_from: '/moveit/'
                             <img class="robot-hand" src="/assets/images/main/hero.png" alt="Robot hand">
                             <div class="info-box-content">
                                 <div class="info-box-header">
-                                    Latest: <b>MoveIt Iron</b>
+                                    Latest: <b>MoveIt Jazzy</b>
                                 </div>
                                 <a href="/install-moveit2/binary/" class="info-box-button button">Install MoveIt From Debian</a>
                                 <div class="info-box-version">
-                                    Ubuntu 22.04
+                                    Ubuntu 24.04
                                 </div>
                                 <div class="link-group">
                                     <a href="/install-moveit2/source/" class="info-box-link">Build&nbsp;From&nbsp;Source</a>
@@ -262,7 +262,7 @@ redirect_from: '/moveit/'
                     <h2 class="h1 text-center"><a id="release-versions" href="#release-versions">Current and Future Versions</a></h2>
                 </div>
             <!-- Release progress bar -->
-            {% include release-progress.html %}
+            <!-- {% include release-progress.html %} -->
             <!-- Release versions table -->
             <div class='row'>
               <div class="release-versions">
@@ -274,7 +274,7 @@ redirect_from: '/moveit/'
                 <div class="release-versions__body">
                   <div class="release-versions__content">
                     <div class="release-versions__1">
-                      <h3>Rolling 2.7</h3>
+                      <h3>Rolling 2.10</h3>
                       <p>
                         <span><img src="/assets/images/icons/git.svg"></span>
                         <a href="https://github.com/moveit/moveit2/tree/main" target="_blank">View branch</a>
@@ -289,7 +289,7 @@ redirect_from: '/moveit/'
                   </div>
                   <div class="release-versions__content">
                     <div class="release-versions__1">
-                      <h3>Iron 2.7</h3>
+                      <h3>Jazzy 2.10 LTS</h3>
                       <p>
                         <span><img src="/assets/images/icons/git.svg"></span>
                         <a href="https://github.com/moveit/moveit2/tree/main" target="_blank">View branch</a>
@@ -298,6 +298,21 @@ redirect_from: '/moveit/'
                     <div class="release-versions__2">
                       ROS 2
                     </div>
+                    <div class="release-versions__3">
+                      <span class="label label--green">RECOMMENDED</span>
+                    </div>
+                  </div>
+                  <div class="release-versions__content">
+                    <div class="release-versions__1">
+                      <h3>Iron 2.7</h3>
+                      <p>
+                        <span><img src="/assets/images/icons/git.svg"></span>
+                        <a href="https://github.com/moveit/moveit2/tree/iron" target="_blank">View branch</a>
+                      </p>
+                    </div>
+                    <div class="release-versions__2">
+                      ROS 2
+                    </div>
                     <div class="release-versions__3">
                       <span class="label label--green">LATEST STABLE</span>
                     </div>
@@ -314,7 +329,7 @@ redirect_from: '/moveit/'
                       ROS 2
                     </div>
                     <div class="release-versions__3">
-                      <span class="label label--green">RECOMMENDED</span>
+                      <span class="label label--orange text-dark">MAINTAINED</span>
                     </div>
                   </div>
                   <div class="release-versions__content">

diff --git a/install-moveit2/binary/index.markdown b/install-moveit2/binary/index.markdown
@@ -7,7 +7,7 @@ title: MoveIt 2 Binary Install
   <div>
     <h1>MoveIt 2 Binary Install</h1>
     We're thrilled you're ready to start using MoveIt 2!
-    Binary installation for MoveIt 2 are available for the ROS 2 distributions Humble and Rolling on Ubuntu 22.04.
+    Binary installation for MoveIt 2 are available for the ROS 2 distributions Jazzy and Rolling on Ubuntu 24.04, and Humble and Iron on Ubuntu 22.04.
     Select your preferred ROS 2 distribution below:
     <div class="row systems-rectangle">
       <button class="btn btn-primary" id="defaultButton" data-toggle="collapse" data-target="#Humble" aria-expanded="true" aria-controls="Humble">
@@ -36,6 +36,19 @@ title: MoveIt 2 Binary Install
           </div>
         </div>
     </button>
+    <button class="btn btn-primary" id="defaultButton" data-toggle="collapse" data-target="#Jazzy" aria-expanded="true" aria-controls="Jazzy">
+        <div class="row no-gutters">
+            <div class="col-auto">
+                <img src="/assets/install_page/ros_icon.png"/>
+              </div>
+          <div class="col-auto system-type">
+            <div class="system-name">
+                ROS 2
+            </div>
+            Jazzy
+          </div>
+        </div>
+    </button>
     <button class="btn btn-primary" id="defaultButton" data-toggle="collapse" data-target="#Rolling" aria-expanded="true" aria-controls="Rolling">
         <div class="row no-gutters">
             <div class="col-auto">
@@ -143,6 +156,50 @@ title: MoveIt 2 Binary Install
       <!-- ----------------------------------------------------------------- -->
       <!-- ----------------------------------------------------------------- -->
       <!-- ----------------------------------------------------------------- -->
+      <div class="collapse" id="Jazzy" data-parent="#accordion">
+        <h3>
+          Prereq: Install <img src="/assets/install_page/ros_logo.jpeg"/>
+        </h3>
+        <p>
+          Follow all the instructions to install <a href="https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html" target="_blank">ROS 2 Jazzy</a>.
+        </p>
+        <div class="horizontal-line"></div>
+        <h2>
+          <img src="/assets/install_page/ubuntu_black.png"> Install on Ubuntu 24.04
+        </h2>
+        <h3>
+          ROS 2 Jazzy
+          <div class="bash-command">
+            <code>sudo apt install ros-jazzy-moveit</code>
+          </div>
+        </h3>
+        <div class="horizontal-line"></div>
+        <h2>
+          Middleware
+        </h2>
+        <p>
+          We recommend CycloneDDS as a middleware. Note: this makes all nodes started using this RMW incompatible with any other nodes not using Cyclone DDS.
+          <code>sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp</code>
+          <code>export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp</code>
+          You may want to add `export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp` to your ~/.bashrc to source it automatically.
+        </p>
+        <div class="horizontal-line"></div>
+        <h2>
+          Quick Start
+        </h2>
+        <p>
+          Start planning in Rviz with:
+        </p>
+        <a href="https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html" target="_blank">
+          <span class="link-with-background">
+            MoveIt 2 Getting Started Tutorial
+          </span>
+        </a>
+      </div>
+      <!-- ----------------------------------------------------------------- -->
+      <!-- ----------------------------------------------------------------- -->
+      <!-- ----------------------------------------------------------------- -->
+      <!-- ----------------------------------------------------------------- -->
       <div class="collapse" id="Rolling" data-parent="#accordion">
         <h3>
           Prereq: Install <img src="/assets/install_page/ros_logo.jpeg"/>
@@ -152,7 +209,7 @@ title: MoveIt 2 Binary Install
         </p>
         <div class="horizontal-line"></div>
         <h2>
-          <img src="/assets/install_page/ubuntu_black.png"> Install on Ubuntu 22.04
+          <img src="/assets/install_page/ubuntu_black.png"> Install on Ubuntu 24.04
         </h2>
         <h3>
           ROS 2 Rolling

diff --git a/install-moveit2/source/index.markdown b/install-moveit2/source/index.markdown
@@ -13,23 +13,25 @@ Installing MoveIt 2 from source is the first step in contributing new features,
 
 MoveIt is mainly supported on Linux, and the following build instructions support in particular:
 
-- Ubuntu 22.04 / ROS 2 Humble Hawksbill (Recommended LTS)
-- Ubuntu 22.04 / ROS 2 Iron Irwini (Recommended Stable)
-- Ubuntu 22.04 / ROS 2 Rolling Ridley (Continuously Updated. Use this to access latest features.)
+- Ubuntu 22.04 / ROS 2 Humble Hawksbill (LTS)
+- Ubuntu 22.04 / ROS 2 Iron Irwini (stable)
+- Ubuntu 24.04 / ROS 2 Jazzy Jalisco (Recommended LTS)
+- Ubuntu 24.04 / ROS 2 Rolling Ridley (Continuously Updated. Use this to access latest features.)
 
 In the future, we would like to expand our source build instructions to more OS's, please contribute instruction write-ups to [this repo](https://github.com/moveit/moveit.ros.org).
 
-These instructions assume you are running on Ubuntu 22.04 (Humble, Iron, Rolling)
+These instructions assume you are running on Ubuntu 24.04 (Jazzy, Rolling). However, the same build commands should apply to Humble and Iron builds on Ubuntu 22.04.
 
 ## Prerequisites
 
 ### Install <img src="/assets/install_page/ros_logo.jpeg"/>
 
-Install ROS 2 [Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html), [Iron](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html), or [Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) following the installation instructions.
+Install ROS 2 [Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html), or [Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) following the installation instructions.
 
-We recommend Humble for stable latest LTS distribution needs, Iron for latest stable release, and Rolling for contributing to MoveIt 2. Currently the [main branch](https://github.com/moveit/moveit2) supports Rolling, Iron, and Humble. However, since it's used for latest development, the main branch is unstable. For stable versions, please use the distro branches [humble](https://github.com/moveit/moveit2/tree/humble), or [iron](https://github.com/moveit/moveit2/tree/iron).
+We recommend Jazzy as the latest and stable LTS distribution, or alternatively Rolling for continuous development including contributions to MoveIt 2. Currently the [main branch](https://github.com/moveit/moveit2) supports Rolling, Jazzy, Iron, and Humble (note that Iron and Humble will be phased out once incompatible, as we only ensure support for the latest LTS versions).
+However, since the main branch is used for development, the MoveIt API is not stable. For stable versions, please use the distro branches [humble](https://github.com/moveit/moveit2/tree/humble), or [iron](https://github.com/moveit/moveit2/tree/iron). A stable branch for Jazzy will be established soon as well.
 
-MoveIt2 source installation requires various other tools apart from what is already mentioned in the ROS2 install docs.
+MoveIt 2 source installation requires various other tools apart from what is already mentioned in the ROS 2 install docs.
 
     sudo apt install -y \
       build-essential \
@@ -76,7 +78,7 @@ Download the repository and install any dependencies. Issue the relevant command
     for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done
     rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
 
-### Rolling, Iron, Humble -unstable
+### Rolling, Jazzy, Iron, Humble -unstable
 
     git clone https://github.com/moveit/moveit2.git -b main
     for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done