Fix LAMBKIN in Noble

src/core/lambkin-shepherd/src/lambkin/shepherd/robot/api/ros2.py

@@ -90,12 +90,21 @@ def dump_ros_2_parameters(
     """
     ros2cli = import_module('ros2cli.node.strategy')
     ros2param = import_module('ros2param.api')
+    if not hasattr(ros2param, "PARAMETER_SEPARATOR_STRING"):
+        rclpy_param = import_module('rclpy.parameter')
+        ros2param.PARAMETER_SEPARATOR_STRING = rclpy_param.PARAMETER_SEPARATOR_STRING
     with ros2cli.NodeStrategy(Namespace(**kwargs)) as node:
         output = deepdict()
         for node_name in list_nodes_with_parameters(node=node):
-            parameter_names = (
-                ros2param.call_list_parameters(
-                    node=node, node_name=node_name))
+            future = ros2param.call_list_parameters(
+                node=node, node_name=node_name)
+            list_parameters_result = future.result()
+            if list_parameters_result is None:
+                raise RuntimeError(
+                    f"Error in lambkin.shepherd.robot.api.ros2.dump_ros_2_parameters: "
+                    f"Failed to list parameters for node '{node_name}'."
+                )
+            parameter_names = list_parameters_result.result.names
             parameter_values = get_node_parameters(
                 node=node, node_name=node_name,
                 parameter_names=parameter_names)
@@ -123,6 +132,9 @@ def set_ros_2_parameter(
     ros2param = import_module('ros2param.api')
     rcl_interfaces = import_module('rcl_interfaces.msg')
     parameter = rcl_interfaces.Parameter(name=name)
+    if not hasattr(ros2param, "get_parameter_value"):
+        rclpy_param = import_module('rclpy.parameter')
+        ros2param.get_parameter_value = rclpy_param.get_parameter_value
     parameter.value = ros2param.get_parameter_value(string_value=str(value))
     with ros2cli.NodeStrategy(Namespace(**kwargs)) as node:
         known_node_names = list_nodes_with_parameters(node=node)

src/core/lambkin-shepherd/src/lambkin/shepherd/robot/resources/library/ros2.resource

@@ -101,7 +101,7 @@ Start Recording ROS 2 Bag
     [Documentation]  Starts recording a ROS 2 bag in the background.
     [Arguments]  ${bag}  ${cwd}=.  &{kwargs}
     [Tags]  imperative
-    ${options} =  Convert To Command Line Options  output=${bag}  &{kwargs}
+    ${options} =  Convert To Command Line Options  output=${bag}  storage=sqlite3  &{kwargs}
     ${process} =  Start Managed Process  ros2  bag  record  @{options}  alias=RECORD:${bag}  cwd=${cwd}
     Process Should Be Running  RECORD:${bag}  msg=${bag} recording process is not running
     RETURN  ${process}

src/core/lambkin-shepherd/tox.ini

@@ -23,7 +23,7 @@ envlist =
   poetry_check
 
 [testenv]
-allowlist_externals = poetry
+allowlist_externals = poetry,flake8,robocop,mypy,pytest,robot
 commands_pre =
   poetry install --with dev --no-root --sync
 passenv =  # ROS specific

src/external/os/Earthfile

@@ -51,6 +51,12 @@ ADDUSER:
     ARG uid
     ARG gid
     ARG workdir=/home/${user}
+    IF getent passwd ${uid} > /dev/null
+        RUN deluser --remove-home $(id -nu ${uid})
+    END
+    IF getent group ${gid} > /dev/null
+        RUN delgroup $(getent group ${gid})
+    END
     RUN addgroup --gid ${gid} ${user} && \
         adduser --uid ${uid} --ingroup ${user} \
         --home /home/${user} --shell /bin/bash ${user} && \

src/external/ros2/Earthfile

@@ -21,8 +21,9 @@ embed-ubuntu-release:
     ARG rosdistro
     FROM os+ubuntu --distro=${distro}
     COPY rosdistro.yml /etc/.
-    RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-    RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+    LET ros_apt_source_version = $(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F 'tag_name' | awk -F\\\" '{print $4}')
+    RUN curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ros_apt_source_version}/ros2-apt-source_${ros_apt_source_version}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
+    RUN dpkg -i /tmp/ros2-apt-source.deb
     LET rosdistro = "${rosdistro}"
     IF [ "$rosdistro" = "" ]
        SET rosdistro = "$(yq .ubuntu.${distro} /etc/rosdistro.yml || echo unknown)"
@@ -35,6 +36,8 @@ embed-ubuntu-devel:
     ARG distro
     ARG rosdistro  # forward
     FROM +embed-ubuntu-release --distro=${distro}  --rosdistro=${rosdistro}
-    RUN pip install colcon-common-extensions poetry colcon-poetry-ros==0.8.0
+    RUN apt update && apt install -y python3-venv && apt clean && rm -rf /var/lib/apt/lists/*
+    RUN pip install pipx colcon-common-extensions colcon-poetry-ros==0.8.0
+    RUN pipx install --global poetry
     ## NOTE(hidmic): remove colcon-poetry-ros weird script relocation
     RUN sed -i '111,131d' $(python3 -c "import colcon_poetry_ros.task.poetry.build as m; print(m.__file__)")