Add Jazzy documentation (#26)

* Start adding Jazzy docs

* Change Nav2 links to docs.nav2.org. Addresses #23

* Update README with changes for Ubuntu 24.04, modify the debug configuration to use the remote theme

* Bump major version for Jazzy

* More jazzy sections added

* Fix bad tab delimiter, update visualization package

* Add Jazzy section to create3.md

* Add a note about firmware versions needing to match the ROS release

* Remove the note about letter prefixes; it doesn't matter

* Add a deprecation notice to all Galactic tabs

* Add a full stop

* More full stops

* Use the styled warning box for the galactic deprecation notices

* Add deprecation notice to the main galactic page

* Add more Jazzy sections

* Add a note about the firmware being DDS-specific in Jazzy

* Move the deprecation notice below the title

* Update Jazzy changelog

* Update jazzy package versions

* Fix the Create3 firmware version

* Add a note about needing wireless equipment that provides 2.5 and 5 GHz

* Fix missing Jazzy section for discovery server

* Update discovery server & simple discovery instructions for Jazzy

* Add a note for Jazzy and Humble about NOT using the `_do_not_use` namespace

* Make sensor installation instructions generic with ROS_DISTRO envar, remove mostly-duplicate tabs. Use `` instead of ** for ros topics

* Consolidate more sections, remove duplicate debian install instructions for the simulation

* More tab consolidations

* Add an additional note about choosing the correct RMW implementation in the firmware installation section

* Add a note to the bash setup table about RMW implementation needing to match the firmware

* Add a section for the Reset Create3 setup menu item

* Add disable-diagnostics tab for jazzy

* Add sourcing-jazzy tab

* Add tabs for the Create3 topics not being visible, rewrite that section for Jazzy

* Forgot to save before last commit

* Consolidate keyboard teleop tabs by using envars

* Add Jazzy sections to the first-node examples

* Add jazzy slam

* Add jazzy nav2

* Add jazzy tabls for navigation, reword missing galactic tutorial notices

* Remove theme lines that are already in _config.yaml

* Remove command that's already in Makefile

* Add `make update` to build commands

* Update simple discovery networking for Jazzy

* Remove superfluous line breaks

* Revert to separate bash commands for each distro's SD card; the humble images aren't compatible with the jazzy script and vice-versa

* Add instructions for how to disconnect the create3 from wifi

* Fix photo captions

* Use the turtlebot4-setup tool for configuring the create3, reword jazzy & humble sections to indicate that we're confirming settings, not that we're applying them

* Reword the part about network topology being the same for simple & server in jazzy

* Specify that the command should be run over SSH on the Turtlebot 4

* Add galactic deprecation notice

* Use the new view_navigation launch file for Jazzy

* Update view_model, view_robot launch file instructions for navigation & multiple robots

* Remove the LLM tutorial for Galactic

* Revert debian installation instructions for the simulator to use tabs

* Revert desktop debian installation to use tabs

* Revert teleop-twist-keyboard installation to use tabs

* Add paragraph break

* More paragraph breaks

* More paragraph breaks

* More paragraph breaks

* ignition-bringup -> gazebo-bringup for relative links

* Remove nested tabs

.debug.yml

@@ -1,8 +1,4 @@
-remote_theme: false
-
 debug:
   compress: false
   dist: true
-  shortcodes: true
-
-theme: jekyll-rtd-theme
+  shortcodes: true

.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:

README.md

@@ -4,7 +4,7 @@ This repository contains the source code for building the Turtlebot4 User Manual
 
 ## Build
 
-To build the Turtlebot4's User Manual locally, first [install Ruby version 2.7.7](https://gorails.com/setup/ubuntu/22.04)
+To build the Turtlebot4's User Manual locally, first [install Ruby version 3.2](https://gorails.com/setup/ubuntu/24.04)
 
 You can check your ruby the version using:
 ```bash
@@ -14,26 +14,24 @@ Ensure that it is showing the correct version.
 
 <p>
 <details>
-    <summary><b>Using Ruby 3+</b></summary>
-    Ruby 3+ isn't recommended due to [this issue](https://talk.jekyllrb.com/t/error-no-implicit-conversion-of-hash-into-integer/5890/2). Unfortunately, Ruby 3+ is required for `sass-converter` to be installed; a dependency of jekyll. If you don't want to (or can't) juggle multiple Ruby versions, you can run this patch to fix Ruby 3+ such that it works with Github Pages.
-
-```shell
-sudo sed -i.bak 's/, kwd/, **kwd/' $(gem which pathutil)
-```
+    <summary><b>Configuring Ubuntu 24.04</b></summary>
+    By default, Ubuntu 24.04 uses a debian-packaged version of Ruby, which installs gems to a root-owned path. This makes installing additional gems problematic.
+    To work around this issue, run the following commands:
+    ```shell
+    mkdir $HOME/.ruby
+    echo 'export GEM_HOME=$HOME/.ruby/' >> $HOME/.bashrc
+    echo 'export PATH="$PATH:$HOME/.ruby/bin"' >> $HOME/.bashrc
+    source $HOME/.bashrc
+    ```
+    This will make the `gem` command install Ruby gems to your local user's `.ruby` directory.
 </details>
 </p>
 
-If you get the warning "No version is set for command ruby" then you need to set the active ruby version in asdf:
-```bash
-asdf global ruby 2.7.7
-```
 Ensure your Ruby gems are up to date:
-```bash
+```shell
 gem update --system
 ```
 
-Next [install Jekyll and the rest of the prerequisites](https://jekyllrb.com/docs/). Be careful to not overwrite the Ruby version. 
-
 Clone this repository:
 
 ```bash
@@ -45,7 +43,8 @@ Build and start a local server:
 ```bash
 cd turtlebot4-user-manual
 make
+make update
 make server
 ```
 
-The webpage will now be available at `127.0.0.1:4000`
+The webpage will now be available at `http://127.0.0.1:4000/turtlebot4-user-manual`

_includes/templates/addons.liquid

@@ -5,7 +5,7 @@
         </div>
         <div class="branch p-1">
             <span class="name">
-                v1.0.0
+                v2.0.0
             </span>
             <i class="fa fa-caret-down"></i>
         </div>

changelogs/galactic.md

@@ -4,6 +4,10 @@ sort: 1
 
 # TurtleBot 4 Galactic
 
+```warning
+**ROS 2 Galactic is no longer supported.** Please consider updating to a newer release
+```
+
 TurtleBot 4 RPi4 image changelogs. Latest images are available [here](http://download.ros.org/downloads/turtlebot4/).
 
 ## v0.1.3
@@ -19,7 +23,7 @@ TurtleBot 4 RPi4 image changelogs. Latest images are available [here](http://dow
 - Added a service to forward the Create® 3 webserver through the RPi4
     - Users can now access the Create® 3 webserver by navigating to the IP address of their TurtleBot 4 with the port 8080 on a web browser.
     - The Create® 3 does not need to be placed into AP mode to access the webserver.
-    - Example: TurtleBot 4 with an IP address of `192.168.0.187`. 
+    - Example: TurtleBot 4 with an IP address of `192.168.0.187`.
         - Enter `192.168.0.187:8080` into your browser:
 <figure class="aligncenter">
     <img src="media/webserver.png" alt="Webserver" style="width: 90%"/>

changelogs/jazzy.md

@@ -0,0 +1,83 @@
+---
+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.0.0
+
+### General
+
+- Due to technical limitations, the Create3 firmware only supports FastRTPS or CycloneDDS; changing
+  RMW implementations requires installing the correct firwmare version on the Create3
+- Updated `install.py` to support Jazzy
+- Use `create3_republisher` by default to expose base platform topics from the RPi4
+- ROS Control changes to use `TwistStamped` messages for velocity control instead of `Twist`
+- Renamed `ignition` and `ign` packages & launch files to use preferred `gz` nomenclature
+
+### TurtleBot 4 Packages
+
+<table>
+    <thead>
+        <tr>
+            <th>Package</th>
+            <th>Version</th>
+            <th>Changes</th>
+        </tr>
+    </thead>
+    <tbody>
+        <tr>
+            <td>turtlebot4_base</td>
+            <td>2.0.0</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_bringup</td>
+            <td>2.0.0</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_description</td>
+            <td>2.0.0</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_diagnostics</td>
+            <td>2.0.0</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_msgs</td>
+            <td>2.0.0</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_navigation</td>
+            <td>2.0.0</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_node</td>
+            <td>2.0.0</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_robot</td>
+            <td>2.0.0</td>
+            <td>-</td>
+        </tr>
+        <tr>
+            <td>turtlebot4_tests</td>
+            <td>2.0.0</td>
+            <td>-</td>
+        </tr>
+    </tbody>
+</table>

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/>
@@ -17,7 +18,7 @@ sort: 2
 ### ROS 2
   - Documentation: <https://docs.ros.org/en/humble/index.html>
   - Ubuntu (Debian) Install: <https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html>
-  - Nav2 Documentation: <https://navigation.ros.org/>
+  - Nav2 Documentation: <https://docs.nav2.org/>
   - Nav2 Github: <https://github.com/ros-planning/navigation2>
   - SLAM Toolbox: <https://github.com/SteveMacenski/slam_toolbox>