build: migrate ROS stack to Jazzy, Python 3.12, and NumPy 2

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.11.3
+  version: 0.12.1
 
 source:
   path: ../../unilabos
@@ -30,12 +30,13 @@ build:
 
 requirements:
   host:
-  - python ==3.11.14
+  - python ==3.12.13
   - pip
   - setuptools
   - zstd
   - zstandard
   run:
+  - python >=3.12,<3.13
   - zstd
   - zstandard
   - networkx
@@ -54,9 +55,9 @@ requirements:
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.11.3
+  - uni-lab::unilabos-env ==0.12.1
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS
   license: GPL-3.0-only
-  description: "UniLabOS - Production package with minimal ROS2 dependencies"
+  description: "UniLabOS - Production package for ROS 2 Jazzy and CPython 3.12"

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.11.3
+  version: 0.12.1
 
 build:
   noarch: generic
@@ -12,28 +12,31 @@ requirements:
   # Python
   - zstd
   - zstandard
-  - conda-forge::python ==3.11.14
+  - conda-forge::python ==3.12.13
+  - conda-forge::numpy >=2,<3
+  - uni-lab::opentrons-shared-data ==9.1.0+unilabos.np2.1 py312_np2_1
   - conda-forge::opencv
   # ROS2 dependencies (from ci-check.yml)
-  - robostack-staging::ros-humble-ros-core
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-nav2-msgs
-  - robostack-staging::ros-humble-cv-bridge
-  - robostack-staging::ros-humble-vision-opencv
-  - robostack-staging::ros-humble-tf-transformations
-  - robostack-staging::ros-humble-moveit-msgs
-  - robostack-staging::ros-humble-tf2-ros
-  - robostack-staging::ros-humble-tf2-ros-py
+  - robostack-jazzy::ros2-distro-mutex 0.15.* jazzy_*
+  - robostack-jazzy::ros-jazzy-ros-core
+  - robostack-jazzy::ros-jazzy-action-msgs
+  - robostack-jazzy::ros-jazzy-std-msgs
+  - robostack-jazzy::ros-jazzy-geometry-msgs
+  - robostack-jazzy::ros-jazzy-control-msgs
+  - robostack-jazzy::ros-jazzy-nav2-msgs
+  - robostack-jazzy::ros-jazzy-cv-bridge
+  - robostack-jazzy::ros-jazzy-vision-opencv
+  - robostack-jazzy::ros-jazzy-tf-transformations
+  - robostack-jazzy::ros-jazzy-moveit-msgs
+  - robostack-jazzy::ros-jazzy-tf2-ros
+  - robostack-jazzy::ros-jazzy-tf2-ros-py
   - conda-forge::transforms3d
   - conda-forge::uv
 
   # UniLabOS custom messages
-  - uni-lab::ros-humble-unilabos-msgs
+  - uni-lab::ros-jazzy-unilabos-msgs
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS
   license: GPL-3.0-only
-  description: "UniLabOS Environment - ROS2 and conda dependencies"
+  description: "UniLabOS Environment - ROS 2 Jazzy, CPython 3.12, and conda dependencies"

.conda/full/recipe.yaml

@@ -3,15 +3,15 @@
 
 package:
   name: unilabos-full
-  version: 0.11.3
+  version: 0.12.1
 
 build:
   noarch: generic
 
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.11.3
+  - uni-lab::unilabos ==0.12.1
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme
@@ -24,19 +24,19 @@ requirements:
   - jupyros
   - colcon-common-extensions
   # ROS2 full desktop (includes rviz2, gazebo, etc.)
-  - robostack-staging::ros-humble-desktop-full
+  - robostack-jazzy::ros-jazzy-desktop-full
   # Navigation and motion control
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
+  - ros-jazzy-navigation2
+  - ros-jazzy-ros2-control
+  - ros-jazzy-robot-state-publisher
+  - ros-jazzy-joint-state-publisher
   # MoveIt motion planning
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
+  - ros-jazzy-moveit
+  - ros-jazzy-moveit-servo
   # Simulation
-  - ros-humble-simulation
+  - ros-jazzy-simulation
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS
   license: GPL-3.0-only
-  description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
+  description: "UniLabOS Full - ROS 2 Jazzy Desktop, MoveIt, Navigation2, Gazebo, and Jupyter"

.github/workflows/ci-check.yml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   registry-check:
-    runs-on: windows-latest
+    runs-on: windows-2022
 
     env:
       # Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
@@ -33,20 +33,34 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          channels: robostack-staging,conda-forge,uni-lab
-          channel-priority: flexible
+          python-version: '3.12.13'
+          channels: conda-forge,robostack-jazzy
+          channel-priority: strict
           activate-environment: check-env
           auto-update-conda: false
           show-channel-urls: true
 
-      - name: Install ROS dependencies, uv and unilabos-msgs
+      - name: Install ROS 2 Jazzy dependencies and build tools
         run: |
-          echo Installing ROS dependencies...
-          mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y
+          echo Installing ROS 2 Jazzy dependencies...
+          mamba install -n check-env --override-channels -c conda-forge -c robostack-jazzy conda-forge::numpy=2 conda-forge::uv conda-forge::opencv conda-forge::colcon-common-extensions robostack-jazzy::ros2-distro-mutex=0.15 robostack-jazzy::ros-jazzy-ros-core robostack-jazzy::ros-jazzy-action-msgs robostack-jazzy::ros-jazzy-std-msgs robostack-jazzy::ros-jazzy-geometry-msgs robostack-jazzy::ros-jazzy-control-msgs robostack-jazzy::ros-jazzy-nav2-msgs robostack-jazzy::ros-jazzy-cv-bridge robostack-jazzy::ros-jazzy-vision-opencv robostack-jazzy::ros-jazzy-tf-transformations robostack-jazzy::ros-jazzy-moveit-msgs robostack-jazzy::ros-jazzy-tf2-ros robostack-jazzy::ros-jazzy-tf2-ros-py conda-forge::transforms3d -y
+
+      - name: Initialize MSVC x64 toolchain
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: x64
+
+      - name: Build unilabos_msgs for Jazzy/cp312
+        run: |
+          call conda activate check-env
+          colcon build --base-paths unilabos_msgs --build-base build\unilabos_msgs --install-base install\unilabos_msgs --merge-install --packages-select unilabos_msgs --cmake-args -DBUILD_TESTING=OFF
+          call install\unilabos_msgs\setup.bat
+          python -c "from unilabos_msgs.msg import Resource; print('unilabos_msgs Jazzy/cp312: OK')"
 
       - name: Install pip dependencies and unilabos
         run: |
           call conda activate check-env
+          call install\unilabos_msgs\setup.bat
           echo Installing pip dependencies...
           uv pip install -r unilabos/utils/requirements.txt
           uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
@@ -57,6 +71,7 @@ jobs:
       - name: Run HostLink networking tests
         run: |
           call conda activate check-env
+          call install\unilabos_msgs\setup.bat
           echo Running HostLink, ROS2 domain and networking runtime tests...
           python -m pytest -q tests\hostlink tests\networking tests\ros\test_domain_init.py -p no:launch_testing -p no:launch_ros
 
@@ -68,6 +83,7 @@ jobs:
         # 不能用 "if errorlevel 1"(它对负数退出码会误判为成功)。
         run: |
           call conda activate check-env
+          call install\unilabos_msgs\setup.bat
           echo Running check mode...
           set ATTEMPTS=4
           set COUNT=0

.github/workflows/conda-pack-build.yml

@@ -51,7 +51,7 @@ jobs:
             platform: osx-arm64
             env_file: unilabos-osx-arm64.yaml
             script_ext: sh
-          - os: windows-latest
+          - os: windows-2022
             platform: win-64
             env_file: unilabos-win64.yaml
             script_ext: bat
@@ -84,14 +84,24 @@ jobs:
           ref: ${{ github.event.inputs.branch || github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
+      - name: Create artifact label
+        if: steps.should_build.outputs.should_build == 'true'
+        id: artifact_label
+        shell: bash
+        env:
+          RAW_PACKAGE_REF: ${{ env.PACKAGE_REF }}
+        run: |
+          SAFE_REF="${RAW_PACKAGE_REF//\//-}"
+          echo "value=$SAFE_REF" >> "$GITHUB_OUTPUT"
+
       - name: Setup Miniforge (with mamba)
         if: steps.should_build.outputs.should_build == 'true'
         uses: conda-incubator/setup-miniconda@v4
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.14'
-          channels: conda-forge,robostack-staging,uni-lab
+          python-version: '3.12.13'
+          channels: conda-forge,robostack-jazzy,uni-lab
           channel-priority: flexible
           activate-environment: unilab
           auto-update-conda: false
@@ -105,10 +115,10 @@ jobs:
           echo Build full: ${{ env.BUILD_FULL }}
           if "${{ env.BUILD_FULL }}"=="true" (
             echo Installing unilabos-full ^(complete package^)...
-            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
+            mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos-full conda-pack zstandard -y
           ) else (
             echo Installing unilabos ^(minimal package^)...
-            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
+            mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos conda-pack zstandard -y
           )
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
@@ -120,50 +130,50 @@ jobs:
           echo "Build full: ${{ env.BUILD_FULL }}"
           if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Installing unilabos-full (complete package)..."
-            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos-full conda-pack zstandard -y
+            mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos-full conda-pack zstandard -y
           else
             echo "Installing unilabos (minimal package)..."
-            mamba install -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge uni-lab::unilabos conda-pack zstandard -y
+            mamba install -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy uni-lab::unilabos conda-pack zstandard -y
           fi
 
-      - name: Get latest ros-humble-unilabos-msgs version (Windows)
+      - name: Get latest ros-jazzy-unilabos-msgs version (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         id: msgs_version_win
         run: |
-          echo Checking installed ros-humble-unilabos-msgs version...
-          conda list -n unilab ros-humble-unilabos-msgs
-          for /f "tokens=2" %%i in ('conda list -n unilab ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
+          echo Checking installed ros-jazzy-unilabos-msgs version...
+          conda list -n unilab ros-jazzy-unilabos-msgs
+          for /f "tokens=2" %%i in ('conda list -n unilab ros-jazzy-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
           echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
-          echo Installed ros-humble-unilabos-msgs version: %VERSION%
+          echo Installed ros-jazzy-unilabos-msgs version: %VERSION%
 
-      - name: Get latest ros-humble-unilabos-msgs version (Unix)
+      - name: Get latest ros-jazzy-unilabos-msgs version (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         id: msgs_version_unix
         shell: bash
         run: |
-          echo "Checking installed ros-humble-unilabos-msgs version..."
-          VERSION=$(conda list -n unilab ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
+          echo "Checking installed ros-jazzy-unilabos-msgs version..."
+          VERSION=$(conda list -n unilab ros-jazzy-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
           echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
-          echo "Installed ros-humble-unilabos-msgs version: $VERSION"
+          echo "Installed ros-jazzy-unilabos-msgs version: $VERSION"
 
-      - name: Check for newer ros-humble-unilabos-msgs (Windows)
+      - name: Check for newer ros-jazzy-unilabos-msgs (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
-          echo Checking for available ros-humble-unilabos-msgs versions...
-          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo Search completed
+          echo Checking for available ros-jazzy-unilabos-msgs versions...
+          mamba search --override-channels -c uni-lab -c conda-forge -c robostack-jazzy ros-jazzy-unilabos-msgs || echo Search completed
           echo.
-          echo Updating ros-humble-unilabos-msgs to latest version...
-          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo Already at latest version
+          echo Updating ros-jazzy-unilabos-msgs to latest version...
+          mamba update -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy ros-jazzy-unilabos-msgs -y || echo Already at latest version
 
-      - name: Check for newer ros-humble-unilabos-msgs (Unix)
+      - name: Check for newer ros-jazzy-unilabos-msgs (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         shell: bash
         run: |
-          echo "Checking for available ros-humble-unilabos-msgs versions..."
-          mamba search --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs || echo "Search completed"
+          echo "Checking for available ros-jazzy-unilabos-msgs versions..."
+          mamba search --override-channels -c uni-lab -c conda-forge -c robostack-jazzy ros-jazzy-unilabos-msgs || echo "Search completed"
           echo ""
-          echo "Updating ros-humble-unilabos-msgs to latest version..."
-          mamba update -n unilab --override-channels -c uni-lab -c robostack-staging -c conda-forge ros-humble-unilabos-msgs -y || echo "Already at latest version"
+          echo "Updating ros-jazzy-unilabos-msgs to latest version..."
+          mamba update -n unilab --override-channels -c uni-lab -c conda-forge -c robostack-jazzy ros-jazzy-unilabos-msgs -y || echo "Already at latest version"
 
       - name: Install latest unilabos from source (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
@@ -193,7 +203,7 @@ jobs:
           mamba env list
           echo.
           echo === Installed Packages ===
-          mamba list -n unilab | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || mamba list -n unilab
+          mamba list -n unilab | findstr /C:"unilabos" /C:"ros-jazzy-unilabos-msgs" || mamba list -n unilab
           echo.
           echo === Python Packages ===
           mamba run -n unilab pip list | findstr unilabos || mamba run -n unilab pip list
@@ -206,7 +216,7 @@ jobs:
           mamba env list
           echo ""
           echo "=== Installed Packages ==="
-          mamba list -n unilab | grep -E "(unilabos|ros-humble-unilabos-msgs)" || mamba list -n unilab
+          mamba list -n unilab | grep -E "(unilabos|ros-jazzy-unilabos-msgs)" || mamba list -n unilab
           echo ""
           echo "=== Python Packages ==="
           mamba run -n unilab pip list | grep unilabos || mamba run -n unilab pip list
@@ -333,7 +343,7 @@ jobs:
         if: steps.should_build.outputs.should_build == 'true'
         uses: actions/upload-artifact@v6
         with:
-          name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
+          name: unilab-pack-${{ matrix.platform }}-${{ steps.artifact_label.outputs.value }}
           path: dist-package/
           retention-days: 90
           if-no-files-found: error
@@ -346,7 +356,7 @@ jobs:
           echo ==========================================
           echo Platform: ${{ matrix.platform }}
           echo Branch: ${{ env.PACKAGE_REF }}
-          echo Python version: 3.11.14
+          echo Python version: 3.12.13
           if "${{ env.BUILD_FULL }}"=="true" (
             echo Package: unilabos-full ^(complete^)
           ) else (
@@ -356,7 +366,7 @@ jobs:
           echo Distribution package contents:
           dir dist-package
           echo.
-          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}
+          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ steps.artifact_label.outputs.value }}
           echo.
           echo After download, extract the ZIP and run:
           echo   install_unilab.bat
@@ -371,7 +381,7 @@ jobs:
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
           echo "Branch: ${{ env.PACKAGE_REF }}"
-          echo "Python version: 3.11.14"
+          echo "Python version: 3.12.13"
           if [[ "${{ env.BUILD_FULL }}" == "true" ]]; then
             echo "Package: unilabos-full (complete)"
           else
@@ -381,7 +391,7 @@ jobs:
           echo "Distribution package contents:"
           ls -lh dist-package/
           echo ""
-          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ env.PACKAGE_REF }}"
+          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ steps.artifact_label.outputs.value }}"
           echo ""
           echo "After download:"
           echo "  install_unilab.sh"