Feature/jazzy

.bazelrc

@@ -6,7 +6,7 @@ build --incompatible_default_to_explicit_init_py
 
 # All code will be compiled with C++17 flag.
 # Users can naturally override copts for cc_* targets.
-# NOTE: ROS 2 Humble needs min C++17.
+# NOTE: ROS 2 Jazzy needs min C++17.
 # NOTE: googletest >=v1.13.0 requires min C++14.
 # This is a mandatory flag.
 build --cxxopt=-std=c++17

MODULE.bazel

@@ -32,13 +32,11 @@ bazel_dep(name = "googletest", version = "1.17.0.bcr.2", dev_dependency = True)
 http_archive = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 _PYTHON_VERSIONS = [
-    "3.10",
-    "3.11",
     "3.12",
     "3.13",
 ]
 
-_DEFAULT_PYTHON = "3.10"
+_DEFAULT_PYTHON = "3.12"
 
 python = use_extension("@rules_python//python/extensions:python.bzl", "python")
 
@@ -71,7 +69,7 @@ use_repo(pip, "rules_ros2_pip_deps")
 dev_pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip", dev_dependency = True)
 dev_pip.parse(
     hub_name = "rules_ros2_resolver_deps",
-    python_version = "3.10",
+    python_version = "3.12",
     requirements_lock = "//repositories/private:resolver_requirements_lock.txt",
 )
 use_repo(dev_pip, "rules_ros2_resolver_deps")

README.md

@@ -11,7 +11,7 @@ Besides Bazel, you will need a C++ compiler and a Python 3 interpreter.
 
 And no, you don't have to install any ROS 2 packages via `apt`.
 
-The code is developed and tested on Ubuntu 22.04 with Python 3.10.
+The code is developed and tested on Ubuntu 22.04 with Python 3.12.
 
 ## What works?
 
@@ -39,7 +39,7 @@ Available features:
 
 Please take a look at the [examples](examples) folder to get started.
 
-ROS 2 packages are by default locked to versions from [release-humble-20250721](https://github.com/ros2/ros2/releases/tag/release-humble-20250721).
+ROS 2 packages are by default locked to versions from [release-jazzy-20250820](https://github.com/ros2/ros2/releases/tag/release-jazzy-20250820).
 
 ## Notes
 

WORKSPACE

@@ -15,15 +15,15 @@ load("@rules_python//python:repositories.bzl", "py_repositories", "python_regist
 py_repositories()
 
 python_register_toolchains(
-    name = "rules_ros2_python",
-    python_version = "3.10",
+    name = "rules_ros2_python_3_12",
+    python_version = "3.12",
 )
 
 load("@rules_python//python:pip.bzl", "pip_parse")
 
 pip_parse(
     name = "rules_ros2_pip_deps",
-    python_interpreter_target = "@rules_ros2_python_host//:python",
+    python_interpreter_target = "@rules_ros2_python_3_12_host//:python",
     requirements_lock = "@com_github_mvukov_rules_ros2//:requirements_lock.txt",
 )
 
@@ -56,7 +56,7 @@ rust_setup_stage_4()
 
 pip_parse(
     name = "rules_ros2_resolver_deps",
-    python_interpreter_target = "@rules_ros2_python_host//:python",
+    python_interpreter_target = "@rules_ros2_python_3_12_host//:python",
     requirements_lock = "//repositories/private:resolver_requirements_lock.txt",
 )
 

examples/MODULE.bazel

@@ -17,7 +17,7 @@ python.toolchain(
     # Otherwise you will get errors at analysis time like:
     #     configurable attribute "actual" in @@rules_python~~pip~rules_ros2_pip_deps//numpy:_no_matching_repository doesn't match this configuration: No matching wheel for current configuration's Python version.
     #     The current build configuration's Python version doesn't match any of the Python wheels available for this distribution.
-    python_version = "3.10",
+    python_version = "3.12",
 )
 
 register_toolchains(

examples/README.md

@@ -18,9 +18,9 @@ Please take a look at the `WORKSPACE` file in this folder to get an idea how to
 
 This approach allows one to customize a Python interpreter and Python deps
 in `requirements.txt` file. In particular, the user is responsible to define the interpreter
-and requirements lock file in their repo. The official interpreter version for ROS 2 Humble is 3.10
-and in `WORKSPACE` file a 3.10 interpreter is setup up. Please pay attention that
-resolved dependencies in `requirements_lock.txt` file are resolved for Python 3.10.
+and requirements lock file in their repo. The official interpreter version for ROS 2 Jazzy is 3.12
+and in `WORKSPACE` file a 3.12 interpreter is setup up. Please pay attention that
+resolved dependencies in `requirements_lock.txt` file are resolved for Python 3.12.
 
 If you want to use this approach, make sure you have the following lines in your `.bazelrc` file:
 
@@ -32,7 +32,7 @@ common --noenable_bzlmod --enable_workspace
 
 This is the new external dependency subsystem. Please take a look at the `MODULE.bazel` file in this folder to get an idea how to set up yourself.
 
-With this approach, `rules_ros2` defines a Python 3.10 interpreter and defines the hub with resolved Python deps. If you want a different intepreter and/or you want to extend the Python requirements files with extra deps you might want to use in your monorepo, you'll need to patch `requirements_lock.txt` file and this repo.
+With this approach, `rules_ros2` defines a Python 3.12 interpreter and defines the hub with resolved Python deps. If you want a different intepreter and/or you want to extend the Python requirements files with extra deps you might want to use in your monorepo, you'll need to patch `requirements_lock.txt` file and this repo.
 
 This is the default way for handling external deps since Bazel 7.
 

examples/WORKSPACE

@@ -31,19 +31,19 @@ load("@rules_python//python:repositories.bzl", "py_repositories", "python_regist
 py_repositories()
 
 python_register_toolchains(
-    name = "rules_ros2_python",
+    name = "rules_ros2_python_3_12",
     # You must pin the Python version to the one used for rules_ros2_pip_deps_numpy_headers and current_py_cc_headers in rules_ros2.
     # Otherwise you will get errors at runtime (not build time!) like:
     #     ModuleNotFoundError: No module named 'numpy.core._multiarray_umath'
     #     Importing the numpy C-extensions failed.
-    python_version = "3.10",
+    python_version = "3.12",
 )
 
 load("@rules_python//python:pip.bzl", "pip_parse")
 
 pip_parse(
     name = "rules_ros2_pip_deps",
-    python_interpreter_target = "@rules_ros2_python_host//:python",
+    python_interpreter_target = "@rules_ros2_python_3_12_host//:python",
     requirements_lock = "@com_github_mvukov_rules_ros2//:requirements_lock.txt",
 )
 

examples/chatter/BUILD.bazel

@@ -56,6 +56,7 @@ ros2_launch(
         ":listener",
         ":talker",
     ],
+    visibility = ["//visibility:public"],
 )
 
 ros2_test(

examples/foxglove_bridge/launch.py

@@ -26,8 +26,7 @@ def generate_launch_description():
 
     return launch.LaunchDescription([
         # ROS_DISTRO is necessary for correct operation of the Foxglove Studio.
-        launch.actions.SetEnvironmentVariable(name='ROS_DISTRO',
-                                              value='humble'),
+        launch.actions.SetEnvironmentVariable(name='ROS_DISTRO', value='jazzy'),
         launch_ros.actions.Node(
             executable=data_paths.ROBOT_STATE_PUBLISHER_NODE_PATH,
             output='screen',

repositories/common_interfaces.BUILD.bazel

@@ -43,6 +43,7 @@ ros2_interface_library(
     name = "std_srvs",
     srcs = glob(["std_srvs/srv/*.srv"]),
     visibility = ["//visibility:public"],
+    deps = ["@ros2_rcl_interfaces//:service_msgs"],
 )
 
 c_ros2_interface_library(
@@ -98,6 +99,7 @@ ros2_interface_library(
     deps = [
         ":geometry_msgs",
         ":std_msgs",
+        "@ros2_rcl_interfaces//:service_msgs",
     ],
 )
 
@@ -123,6 +125,7 @@ ros2_interface_library(
     deps = [
         ":geometry_msgs",
         ":std_msgs",
+        "@ros2_rcl_interfaces//:service_msgs",
     ],
 )
 
@@ -273,6 +276,7 @@ ros2_interface_library(
     visibility = ["//visibility:public"],
     deps = [
         ":std_msgs",
+        "@ros2_rcl_interfaces//:service_msgs",
     ],
 )
 

repositories/geometry2.BUILD.bazel

@@ -74,18 +74,31 @@ ros2_cpp_library(
     ],
     hdrs = [
         "tf2_ros/include/tf2_ros/async_buffer_interface.h",
+        "tf2_ros/include/tf2_ros/async_buffer_interface.hpp",
         "tf2_ros/include/tf2_ros/buffer.h",
+        "tf2_ros/include/tf2_ros/buffer.hpp",
         "tf2_ros/include/tf2_ros/buffer_client.h",
+        "tf2_ros/include/tf2_ros/buffer_client.hpp",
         "tf2_ros/include/tf2_ros/buffer_interface.h",
+        "tf2_ros/include/tf2_ros/buffer_interface.hpp",
         "tf2_ros/include/tf2_ros/buffer_server.h",
+        "tf2_ros/include/tf2_ros/buffer_server.hpp",
         "tf2_ros/include/tf2_ros/create_timer_interface.h",
+        "tf2_ros/include/tf2_ros/create_timer_interface.hpp",
         "tf2_ros/include/tf2_ros/create_timer_ros.h",
+        "tf2_ros/include/tf2_ros/create_timer_ros.hpp",
         "tf2_ros/include/tf2_ros/message_filter.h",
+        "tf2_ros/include/tf2_ros/message_filter.hpp",
         "tf2_ros/include/tf2_ros/qos.hpp",
         "tf2_ros/include/tf2_ros/static_transform_broadcaster.h",
+        "tf2_ros/include/tf2_ros/static_transform_broadcaster.hpp",
+        "tf2_ros/include/tf2_ros/static_transform_broadcaster_visibility_control.hpp",
         "tf2_ros/include/tf2_ros/transform_broadcaster.h",
+        "tf2_ros/include/tf2_ros/transform_broadcaster.hpp",
         "tf2_ros/include/tf2_ros/transform_listener.h",
+        "tf2_ros/include/tf2_ros/transform_listener.hpp",
         "tf2_ros/include/tf2_ros/visibility_control.h",
+        "tf2_ros/include/tf2_ros/visibility_control.hpp",
     ],
     includes = ["tf2_ros/include"],
     visibility = ["//visibility:public"],

repositories/iceoryx.BUILD.bazel

@@ -58,7 +58,7 @@ cmake(
     ),
     out_binaries = ["iox-roudi"],
     out_data_dirs = ["lib/cmake"],
-    out_include_dir = "include/iceoryx/v2.0.5/",
+    out_include_dir = "include/iceoryx/v2.0.6/",
     out_static_libs = [
         # The order of the libs is important for linking to work out.
         "libiceoryx_binding_c.a",

repositories/image_common.BUILD.bazel

@@ -20,7 +20,6 @@ ros2_cpp_library(
         "camera_calibration_parsers/src/parse_yml.cpp",
     ]),
     hdrs = glob([
-        "camera_calibration_parsers/include/**/*.h",
         "camera_calibration_parsers/include/**/*.hpp",
     ]),
     includes = ["camera_calibration_parsers/include"],
@@ -41,20 +40,14 @@ ros2_cpp_library(
         "image_transport/src/single_subscriber_publisher.cpp",
     ],
     hdrs = [
-        "image_transport/include/image_transport/camera_common.h",
         "image_transport/include/image_transport/camera_common.hpp",
-        "image_transport/include/image_transport/exception.h",
         "image_transport/include/image_transport/exception.hpp",
-        "image_transport/include/image_transport/loader_fwds.h",
         "image_transport/include/image_transport/loader_fwds.hpp",
-        "image_transport/include/image_transport/publisher.h",
         "image_transport/include/image_transport/publisher.hpp",
-        "image_transport/include/image_transport/publisher_plugin.h",
         "image_transport/include/image_transport/publisher_plugin.hpp",
         "image_transport/include/image_transport/simple_publisher_plugin.hpp",
         "image_transport/include/image_transport/simple_subscriber_plugin.hpp",
         "image_transport/include/image_transport/single_subscriber_publisher.hpp",
-        "image_transport/include/image_transport/subscriber_plugin.h",
         "image_transport/include/image_transport/subscriber_plugin.hpp",
         "image_transport/include/image_transport/visibility_control.hpp",
     ],
@@ -76,17 +69,11 @@ ros2_cpp_library(
         "image_transport/src/subscriber.cpp",
     ],
     hdrs = [
-        "image_transport/include/image_transport/camera_publisher.h",
         "image_transport/include/image_transport/camera_publisher.hpp",
-        "image_transport/include/image_transport/camera_subscriber.h",
         "image_transport/include/image_transport/camera_subscriber.hpp",
-        "image_transport/include/image_transport/image_transport.h",
         "image_transport/include/image_transport/image_transport.hpp",
-        "image_transport/include/image_transport/subscriber.h",
         "image_transport/include/image_transport/subscriber.hpp",
-        "image_transport/include/image_transport/subscriber_filter.h",
         "image_transport/include/image_transport/subscriber_filter.hpp",
-        "image_transport/include/image_transport/transport_hints.h",
         "image_transport/include/image_transport/transport_hints.hpp",
     ],
     data = [
@@ -105,9 +92,7 @@ ros2_cpp_library(
 ros2_plugin(
     name = "image_transport_plugins",
     srcs = [
-        "image_transport/include/image_transport/raw_publisher.h",
         "image_transport/include/image_transport/raw_publisher.hpp",
-        "image_transport/include/image_transport/raw_subscriber.h",
         "image_transport/include/image_transport/raw_subscriber.hpp",
         "image_transport/src/manifest.cpp",
     ],
@@ -147,6 +132,7 @@ ros2_cpp_library(
         "@ros2_ament_index//:ament_index_cpp",
         "@ros2_common_interfaces//:cpp_sensor_msgs",
         "@ros2_rclcpp//:rclcpp",
+        "@ros2_rclcpp//:rclcpp_lifecycle",
         "@ros2_rcpputils//:rcpputils",
     ],
 )