fix: update ansible roles and setup script for jazzy

ansible/roles/caret/tasks/main.yml

@@ -38,6 +38,7 @@
   pip:
     requirements: "{{ requirements_path }}"
     executable: pip3
+    extra_args: "{{ '--break-system-packages' if ansible_distribution_version >= '24.04' else '' }}"
   become: false
   args:
     chdir: "{{ WORKSPACE_ROOT }}"

ansible/roles/caret_iron/tasks/main.yml

@@ -38,6 +38,7 @@
   pip:
     requirements: "{{ requirements_path }}"
     executable: pip3
+    extra_args: "{{ '--break-system-packages' if ansible_distribution_version >= '24.04' else '' }}"
   become: false
   args:
     chdir: "{{ WORKSPACE_ROOT }}"

ansible/roles/caret_jazzy/tasks/main.yml

@@ -39,6 +39,7 @@
   pip:
     requirements: "{{ requirements_path }}"
     executable: pip3
+    extra_args: "{{ '--break-system-packages' if ansible_distribution_version >= '24.04' else '' }}"
   become: false
   args:
     chdir: "{{ WORKSPACE_ROOT }}"

ansible/roles/ros-tracing/tasks/main.yml

@@ -9,6 +9,7 @@
   pip:
     requirements: "{{ requirements_path }}"
     executable: pip3
+    extra_args: "{{ '--break-system-packages' if ansible_distribution_version >= '24.04' else '' }}"
   become: false
   args:
     chdir: "{{ WORKSPACE_ROOT }}"

ansible/roles/visualizer/tasks/main.yml

@@ -10,7 +10,7 @@
   pip:
     requirements: "{{ requirements_path }}"
     executable: pip3
-    extra_args: --ignore-installed
+    extra_args: --ignore-installed "{{ '--break-system-packages' if ansible_distribution_version >= '24.04' else '' }}"
   become: false
   args:
     chdir: "{{ WORKSPACE_ROOT }}"

setup_caret.sh

@@ -11,6 +11,10 @@ function show_usage() {
     echo "    -c or --no-interactive"
     echo "    -n or --no-package-install"
     echo "    -d or --ros-distro"
+    echo ""
+    echo "Required for ROS 2 Jazzy (Ubuntu 24.04+):"
+    echo "    export ALLOW_BREAK_SYSTEM_PACKAGES=true"
+    echo "    (Allows pip to install packages into the system Python environment / PEP 668)"
     exit 0
 }
 
@@ -62,6 +66,20 @@ done
 # Check ROS Distribution
 validate_ros_distro "$ros_distro"
 
+# Jazzy Specific Check for PEP 668 ---
+if [ "$ros_distro" = "jazzy" ]; then
+    if [ "${ALLOW_BREAK_SYSTEM_PACKAGES:-false}" != "true" ]; then
+        echo -e "\e[31m[ERROR] Ubuntu 24.04 (Jazzy) detected.\e[0m"
+        echo "Starting from this version, pip installation into system packages is restricted by default."
+        echo "To proceed with the installation, please run the following command first to acknowledge the risk:"
+        echo ""
+        echo -e "    \e[36m"export ALLOW_BREAK_SYSTEM_PACKAGES=true"\e[0m"
+        echo ""
+        echo "Then, run this setup script again."
+        exit 1
+    fi
+fi
+
 # Confirm whether to start installation
 if [ $noninteractive -eq 0 ]; then
     # Prevent root execution in interactive mode
@@ -97,7 +115,7 @@ fi
 # Run ansible if confirmed
 # Install ansible
 if [ "$ros_distro" = "jazzy" ]; then
-    pip3 install -U ansible
+    pip3 install -U ansible --break-system-packages
 else
     ansible_version=$(pip3 list | grep -oP "^ansible\s+\K([0-9]+)" || true)
     if [ "$ansible_version" != "6" ]; then