ROS2 Jazzy Release

Release Target

This page tracks the current ROS2/Jazzy release state for the ros2 branch.

  • Branch: ros2

  • Release version: v2.1.0

  • ROS2 maintainer: Lorenzo Terenzi

  • Release surface:

    • elevation_mapping_cupy Python/CuPy node

    • semantic_sensor package

    • TurtleBot3 example launches

    • semantic image and semantic pointcloud example launches

What Changed Since v2.0.0

  • Restored the ROS2 semantic workflow and brought back the semantic_sensor package.

  • Fixed the semantic image ingestion path in elevation_mapping_node.py.

  • Added ROS2 branch CI on the self-hosted NVIDIA runner using the moleworks_ros container.

  • Revalidated the example launch surface instead of leaving semantic launches as stale files.

  • Rewrote the user-facing documentation for ROS2 Jazzy.

Validation

The v2.1.0 release validation was executed on starship inside the GPU-enabled moleworks_ros container.

Executed checks:

  • semantic image runtime smoke

  • semantic pointcloud runtime smoke

  • PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 pytest sensor_processing/semantic_sensor/test -q

  • colcon test --packages-select elevation_mapping_cupy

Observed result:

  • 24 tests

  • 0 errors

  • 0 failures

  • 0 skipped

Known Issues

  • Some container images do not ship torchvision. CI installs a matching wheel at runtime.

  • The integration test still logs rclpy.shutdown already called during teardown, but the test passes.

  • A real GPU is still required at runtime. A CUDA userspace image without a loaded NVIDIA host driver is not enough.

Release Checklist

The branch is ready to tag once the maintainer is satisfied with the current state.

Before pushing the release tag:

  • confirm the docs build on GitHub Actions

  • confirm the self-hosted ROS2 CI still passes on ros2

  • create the Git tag for v2.1.0