From ba3aabcdf9aaf84d4555db6ae0af2c3fccf486d4 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Fri, 5 Jul 2024 16:58:08 -0400
Subject: [PATCH 01/40] Initial migration to Jazzy. Not all packages exist as
 binaries yet

---
 .github/ISSUE_TEMPLATE/1-bug.yml            |  2 ++
 .github/workflows/ci.yml                    |  8 ++++----
 README.md                                   | 10 +++++-----
 etc/turtlebot4/discovery.sh                 |  2 +-
 etc/turtlebot4/setup.bash                   |  4 ++--
 etc/turtlebot4/system                       |  2 +-
 scripts/{humble.sh => jazzy.sh}             |  4 ++--
 scripts/turtlebot4_setup.sh                 | 14 +++++++-------
 turtlebot4_discovery/configure_discovery.sh |  4 ++--
 turtlebot4_setup/conf.py                    |  6 +++---
 turtlebot4_setup/turtlebot4_setup           | 10 +++++-----
 11 files changed, 34 insertions(+), 32 deletions(-)
 rename scripts/{humble.sh => jazzy.sh} (95%)

diff --git a/.github/ISSUE_TEMPLATE/1-bug.yml b/.github/ISSUE_TEMPLATE/1-bug.yml
index 46fcde9..801c9b4 100644
--- a/.github/ISSUE_TEMPLATE/1-bug.yml
+++ b/.github/ISSUE_TEMPLATE/1-bug.yml
@@ -30,6 +30,7 @@ body:
         - Select One
         - Galactic
         - Humble
+        - Jazzy
     validations:
       required: true
   - type: dropdown
@@ -52,6 +53,7 @@ body:
         - Select One
         - Ubuntu 20.04
         - Ubuntu 22.04
+        - Ubuntyu 24.04
         - Other Linux
         - Windows / MAC
     validations:
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 15f3120..043e79f 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -3,11 +3,11 @@ name: turtlebot4_setup_ci
 on: [push, pull_request]
 
 jobs:
-  turtlebot4_humble_ci:
-    name: Humble
-    runs-on: ubuntu-22.04
+  turtlebot4_jazzy_ci:
+    name: Jazzy
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v2.3.4
       - uses: ros-tooling/setup-ros@v0.3
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: jazzy
diff --git a/README.md b/README.md
index 00c2fb1..fd99b6e 100644
--- a/README.md
+++ b/README.md
@@ -12,14 +12,14 @@ Follow these instructions if you wish to create a Turtlebot4 image manually.
 
 First install the [Raspberry Pi Imager](https://www.raspberrypi.com/software/).
 
-- Insert your SD card into your PC and run the Raspberry Pi Imager. Follow the instructions and install Ubuntu 22.04 Server (64-bit) onto the SD card.
-- Ensure your Raspberry Pi 4 is not powered before inserting the flashed SD card. 
+- Insert your SD card into your PC and run the Raspberry Pi Imager. Follow the instructions and install Ubuntu 24.04 Server (64-bit) onto the SD card.
+- Ensure your Raspberry Pi 4 is not powered before inserting the flashed SD card.
 - You can set up the Raspberry Pi by either connecting it to your network via Ethernet or by using a keyboard and HDMI monitor via a micro HDMI cable.
 
 ### Ethernet Setup
 
 - Connect the Raspberry Pi to your Network with an Ethernet cable.
-- Boot the Raspberry Pi. 
+- Boot the Raspberry Pi.
 - Find the Raspberry Pi's IP using your router's portal.
 - SSH into the Raspberry Pi using the IP address.
 ```bash
@@ -62,7 +62,7 @@ ssh ubuntu@xxx.xxx.xxx.xxx
 ## Download and run the setup script
 
 ```
-wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/humble/scripts/turtlebot4_setup.sh | bash
+wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/turtlebot4_setup.sh | bash
 ```
 
-The script will automatically install ROS 2 Humble, TurtleBot 4 packages, and other important apt packages. It will also configure the RPi4 to work in a TurtleBot 4. Once complete, the RPi4 should be rebooted with `sudo reboot`. Then, run `turtlebot4-setup` to configure the robot with the setup tool.
+The script will automatically install ROS 2 Jazzy, TurtleBot 4 packages, and other important apt packages. It will also configure the RPi4 to work in a TurtleBot 4. Once complete, the RPi4 should be rebooted with `sudo reboot`. Then, run `turtlebot4-setup` to configure the robot with the setup tool.
diff --git a/etc/turtlebot4/discovery.sh b/etc/turtlebot4/discovery.sh
index 2fdf915..54ab52e 100755
--- a/etc/turtlebot4/discovery.sh
+++ b/etc/turtlebot4/discovery.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
 fastdds discovery -i 0 -p 11811
diff --git a/etc/turtlebot4/setup.bash b/etc/turtlebot4/setup.bash
index 1098367..0085979 100644
--- a/etc/turtlebot4/setup.bash
+++ b/etc/turtlebot4/setup.bash
@@ -5,7 +5,7 @@ export ROS_DOMAIN_ID=0
 export ROS_DISCOVERY_SERVER=
 export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 export TURTLEBOT4_DIAGNOSTICS=1
-export WORKSPACE_SETUP=/opt/ros/humble/setup.bash
+export WORKSPACE_SETUP=/opt/ros/jazzy/setup.bash
 export ROS_SUPER_CLIENT=False
 
-source $WORKSPACE_SETUP
\ No newline at end of file
+source $WORKSPACE_SETUP
diff --git a/etc/turtlebot4/system b/etc/turtlebot4/system
index 0d27143..efc36e3 100644
--- a/etc/turtlebot4/system
+++ b/etc/turtlebot4/system
@@ -1,3 +1,3 @@
 MODEL:standard
 VERSION:1.0.0
-ROS:Humble
\ No newline at end of file
+ROS:Jazzy
diff --git a/scripts/humble.sh b/scripts/jazzy.sh
similarity index 95%
rename from scripts/humble.sh
rename to scripts/jazzy.sh
index cd1003a..3d02875 100755
--- a/scripts/humble.sh
+++ b/scripts/jazzy.sh
@@ -4,7 +4,7 @@ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 sudo apt update
 sudo apt install -y \
-ros-humble-ros-base \
+ros-jazzy-ros-base \
 build-essential \
 cmake \
 git \
@@ -12,4 +12,4 @@ wget \
 ros-dev-tools \
 socat \
 network-manager \
-chrony
\ No newline at end of file
+chrony
diff --git a/scripts/turtlebot4_setup.sh b/scripts/turtlebot4_setup.sh
index c70787e..c29f26d 100755
--- a/scripts/turtlebot4_setup.sh
+++ b/scripts/turtlebot4_setup.sh
@@ -31,15 +31,15 @@ echo "Setting up Turtlebot4";
 
 sudo apt update && sudo apt upgrade
 
-wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/humble/scripts/humble.sh | bash
+wget -qO - https://raw.githubusercontent.com/turtlebot/turtlebot4_setup/jazzy/scripts/jazzy.sh | bash
 
 sudo apt update && sudo apt upgrade
 
-sudo apt install -y ros-humble-ros-base \
-ros-humble-turtlebot4-setup \
-ros-humble-turtlebot4-robot \
-ros-humble-irobot-create-control \
-ros-humble-turtlebot4-navigation \
+sudo apt install -y ros-jazzy-ros-base \
+ros-jazzy-turtlebot4-setup \
+ros-jazzy-turtlebot4-robot \
+ros-jazzy-irobot-create-control \
+ros-jazzy-turtlebot4-navigation \
 ros-dev-tools \
 socat \
 network-manager \
@@ -47,7 +47,7 @@ chrony
 
 sudo rm /etc/netplan/50-cloud-init.yaml
 
-git clone https://github.com/turtlebot/turtlebot4_setup.git -b humble && \
+git clone https://github.com/turtlebot/turtlebot4_setup.git -b jazzy && \
 sudo mv turtlebot4_setup/boot/firmware/* /boot/firmware && rm turtlebot4_setup/ -rf
 
 echo "export ROBOT_SETUP=/etc/turtlebot4/setup.bash" | sudo tee -a ~/.bashrc
diff --git a/turtlebot4_discovery/configure_discovery.sh b/turtlebot4_discovery/configure_discovery.sh
index 13f8023..2e6c270 100755
--- a/turtlebot4_discovery/configure_discovery.sh
+++ b/turtlebot4_discovery/configure_discovery.sh
@@ -116,7 +116,7 @@ do
   # Prompt the user to offer the ability to correct the last server info or add additional servers
   while [ 1 ]
   do
-    read -p "Re-enter the last server (r), add another server (a), or done (d): " option 
+    read -p "Re-enter the last server (r), add another server (a), or done (d): " option
     if [[ $option =~ ^[r,R].* ]];
     then
       echo "Removing last server entry, re-enter the correct server information"
@@ -173,7 +173,7 @@ sudo mkdir -p /etc/turtlebot4_discovery/
 
 # Create setup.bash file
 setup_file_temp="/tmp/turtlebot4_discovery_setup.bash"
-echo "source /opt/ros/humble/setup.bash" > $setup_file_temp
+echo "source /opt/ros/jazzy/setup.bash" > $setup_file_temp
 echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> $setup_file_temp
 echo "[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False" >> $setup_file_temp
 
diff --git a/turtlebot4_setup/conf.py b/turtlebot4_setup/conf.py
index b45ad35..7271c5e 100644
--- a/turtlebot4_setup/conf.py
+++ b/turtlebot4_setup/conf.py
@@ -53,7 +53,7 @@ class Conf():
     default_system_conf = {
         SystemOptions.MODEL: 'lite',
         SystemOptions.VERSION: '1.0.0',
-        SystemOptions.ROS: 'Humble',
+        SystemOptions.ROS: 'Jazzy',
         SystemOptions.HOSTNAME: 'ubuntu',
     }
 
@@ -75,7 +75,7 @@ class Conf():
         BashOptions.DISCOVERY_SERVER: None,
         BashOptions.RMW: 'rmw_fastrtps_cpp',
         BashOptions.DIAGNOSTICS: '1',
-        BashOptions.WORKSPACE: '/opt/ros/humble/setup.bash',
+        BashOptions.WORKSPACE: '/opt/ros/jazzy/setup.bash',
         BashOptions.SUPER_CLIENT: False
     }
 
@@ -393,7 +393,7 @@ def get_discovery_str(self) -> str:
             discovery_str += f"{s['ip']}:{s['port']};"
             i += 1
         return discovery_str
-    
+
     def get_create3_server_str(self) -> str:
         # Create3 should only point at the local server on the pi
         discovery_str = ''
diff --git a/turtlebot4_setup/turtlebot4_setup b/turtlebot4_setup/turtlebot4_setup
index 60beb39..2de70b4 100755
--- a/turtlebot4_setup/turtlebot4_setup
+++ b/turtlebot4_setup/turtlebot4_setup
@@ -13,7 +13,7 @@ from turtlebot4_setup.conf import Conf, SystemOptions, BashOptions, WifiOptions,
 
 class Turtlebot4Setup():
     title = """
-  _____         _   _     ___      _   _ _    ___      _ 
+  _____         _   _     ___      _   _ _    ___      _
  |_   _|  _ _ _| |_| |___| _ ) ___| |_| | |  / __| ___| |_ _  _ _ __
    | || || | '_|  _| / -_) _ \/ _ \  _|_  _| \__ \/ -_)  _| || | '_ \\
    |_| \_,_|_|  \__|_\___|___/\___/\__| |_|  |___/\___|\__|\_,_| .__/
@@ -46,7 +46,7 @@ class Turtlebot4Setup():
 
         if o.show() == 'Yes':
             subprocess.run(shlex.split('sudo apt update'))
-            subprocess.run(shlex.split('sudo apt install ros-humble-turtlebot4-setup'))
+            subprocess.run(shlex.split('sudo apt install ros-jazzy-turtlebot4-setup'))
             input()
 
     def view_settings(self):
@@ -103,7 +103,7 @@ class Turtlebot4Setup():
         if text == '':
             text = 'No changes made.\n'
         text = """
-    _             _        ___      _   _   _              
+    _             _        ___      _   _   _
    /_\  _ __ _ __| |_  _  / __| ___| |_| |_(_)_ _  __ _ ___
   / _ \| '_ \ '_ \ | || | \__ \/ -_)  _|  _| | ' \/ _` (_-<
  /_/ \_\ .__/ .__/_|\_, | |___/\___|\__|\__|_|_||_\__, /__/
@@ -184,7 +184,7 @@ class Turtlebot4Setup():
 
             # Set create3 rmw profile
             command = shlex.split(f'curl -d {shlex.quote(create3_rmw_profile)} -X POST http://192.168.186.2/rmw-profile-override-save')
-            
+
             result = subprocess.run(command, capture_output=True)
 
             # If the curl command fails then return and indicate the error.
@@ -194,7 +194,7 @@ class Turtlebot4Setup():
             # Set time syncing to Raspberry PI
             config = f'config=server 192.168.186.3 prefer iburst minpoll 4 maxpoll 6  # Use RPi4 server'
             command = shlex.split(f'curl -d "{config}" -X POST http://192.168.186.2/beta-ntp-conf-save')
-            
+
             result = subprocess.run(command, capture_output=True)
 
             # If the curl command fails then return and indicate the error.

From dcab033968d551390ed7a59a7f49ee01cb68409e Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 9 Jul 2024 13:12:31 -0400
Subject: [PATCH 02/40] Add docker files

---
 etc/turtlebot4/docker-compose.yml             | 12 +++++
 etc/turtlebot4/docker/Dockerfile              | 50 +++++++++++++++++++
 etc/turtlebot4/docker/build.sh                |  3 ++
 etc/turtlebot4/docker/config/create3.env      |  5 ++
 .../docker/config/fastrtps-repub.xml          | 22 ++++++++
 5 files changed, 92 insertions(+)
 create mode 100644 etc/turtlebot4/docker-compose.yml
 create mode 100644 etc/turtlebot4/docker/Dockerfile
 create mode 100755 etc/turtlebot4/docker/build.sh
 create mode 100644 etc/turtlebot4/docker/config/create3.env
 create mode 100644 etc/turtlebot4/docker/config/fastrtps-repub.xml

diff --git a/etc/turtlebot4/docker-compose.yml b/etc/turtlebot4/docker-compose.yml
new file mode 100644
index 0000000..0460cd8
--- /dev/null
+++ b/etc/turtlebot4/docker-compose.yml
@@ -0,0 +1,12 @@
+services:
+  create3-republisher:
+    image: create3-republisher:latest
+    restart: no
+    env_file:
+      - config/create3.env
+    command: ros2 launch create3_republisher create3_republisher_launch.py robot_ns:=/ republisher_ns:=/create3_repub
+    profiles:
+      - create3
+    volumes:
+      - ./docker/config:/opt/config
+    network_mode: host
diff --git a/etc/turtlebot4/docker/Dockerfile b/etc/turtlebot4/docker/Dockerfile
new file mode 100644
index 0000000..76b23d7
--- /dev/null
+++ b/etc/turtlebot4/docker/Dockerfile
@@ -0,0 +1,50 @@
+FROM ros:humble
+
+# install ros package
+RUN apt-get update && apt-get install -y \
+      ros-${ROS_DISTRO}-irobot-create-msgs \
+      ros-${ROS_DISTRO}-domain-bridge \
+      nano && \
+    rm -rf /var/lib/apt/lists/*
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # [Optional] Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  # Cleanup
+  && rm -rf /var/lib/apt/lists/* \
+  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
+
+
+#ENV ROS_WS=/opt/ws
+#RUN mkdir -p $ROS_WS/src
+#
+#WORKDIR $ROS_WS/src
+#RUN git clone https://github.com/ros2/domain_bridge.git -b humble
+#
+#WORKDIR $ROS_WS
+#RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+#  colcon build --symlink-install
+
+
+# #!/bin/bash
+# set -e
+#
+# # setup ros2 environment
+# source "/opt/ros/$ROS_DISTRO/setup.bash" --
+# exec "$@"
+#RUN echo "#!/bin/bash" > /ros_entrypoint.sh && \
+#  echo "set -e" >> /ros_entrypoint.sh && \
+#  echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /ros_entrypoint.sh && \
+#  echo "source $ROS_WS/install/setup.bash" >> /ros_entrypoint.sh && \
+#  echo "exec \"\$@\"" >> /ros_entrypoint.sh && \
+#  chmod +x /ros_entrypoint.sh
diff --git a/etc/turtlebot4/docker/build.sh b/etc/turtlebot4/docker/build.sh
new file mode 100755
index 0000000..fe748a7
--- /dev/null
+++ b/etc/turtlebot4/docker/build.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+docker build -t create3-bridge .
diff --git a/etc/turtlebot4/docker/config/create3.env b/etc/turtlebot4/docker/config/create3.env
new file mode 100644
index 0000000..530d04d
--- /dev/null
+++ b/etc/turtlebot4/docker/config/create3.env
@@ -0,0 +1,5 @@
+export FASTRTPS_DEFAULT_PROFILES_FILE=/opt/config/fastrtps-repub.xml
+export ROBOT_NAMESPACE=
+export ROS_DOMAIN_ID=0
+export ROS_DISCOVERY_SERVER=
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
diff --git a/etc/turtlebot4/docker/config/fastrtps-repub.xml b/etc/turtlebot4/docker/config/fastrtps-repub.xml
new file mode 100644
index 0000000..d1ca7b0
--- /dev/null
+++ b/etc/turtlebot4/docker/config/fastrtps-repub.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<dds>
+    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+        <participant profile_name="turtlebot4_republisher_profile" is_default_profile="true">
+            <rtps>
+                <builtin>
+                    <initialPeersList>
+                        <locator>
+                            <udpv4>
+                                <address>127.0.0.1</address>
+                            </udpv4>
+                            <udpv4>
+                                <address>192.168.186.2</address>
+                            </udpv4>
+                        </locator>
+                    </initialPeersList>
+                </builtin>
+                <builtinTransports>UDPv4</builtinTransports>
+            </rtps>
+        </participant>
+    </profiles>
+</dds>

From e8c929e364f2bd80c55548e736e503cd630b25d3 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 9 Jul 2024 13:14:39 -0400
Subject: [PATCH 03/40] Use the complete path for the volume

---
 etc/turtlebot4/docker-compose.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/etc/turtlebot4/docker-compose.yml b/etc/turtlebot4/docker-compose.yml
index 0460cd8..3124ac2 100644
--- a/etc/turtlebot4/docker-compose.yml
+++ b/etc/turtlebot4/docker-compose.yml
@@ -8,5 +8,5 @@ services:
     profiles:
       - create3
     volumes:
-      - ./docker/config:/opt/config
+      - /etc/turtlebot4/docker/config:/opt/config
     network_mode: host

From 32375b49a9c6f678ab8559a1f1f8cb4677abd0d3 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 9 Jul 2024 13:15:57 -0400
Subject: [PATCH 04/40] Fix the env file path

---
 etc/turtlebot4/docker-compose.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/etc/turtlebot4/docker-compose.yml b/etc/turtlebot4/docker-compose.yml
index 3124ac2..f948e7a 100644
--- a/etc/turtlebot4/docker-compose.yml
+++ b/etc/turtlebot4/docker-compose.yml
@@ -3,7 +3,7 @@ services:
     image: create3-republisher:latest
     restart: no
     env_file:
-      - config/create3.env
+      - /etc/turtlebot4/docker/config/create3.env
     command: ros2 launch create3_republisher create3_republisher_launch.py robot_ns:=/ republisher_ns:=/create3_repub
     profiles:
       - create3

From 798a1b39e532123f32e0144c614e95d6dda08422 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 9 Jul 2024 14:42:57 -0400
Subject: [PATCH 05/40] Fix the dockerfile & build script; i copied the wrong
 ones in before

---
 etc/turtlebot4/docker/Dockerfile | 58 +++++++++++---------------------
 etc/turtlebot4/docker/build.sh   |  2 +-
 2 files changed, 20 insertions(+), 40 deletions(-)

diff --git a/etc/turtlebot4/docker/Dockerfile b/etc/turtlebot4/docker/Dockerfile
index 76b23d7..7d8a241 100644
--- a/etc/turtlebot4/docker/Dockerfile
+++ b/etc/turtlebot4/docker/Dockerfile
@@ -1,10 +1,15 @@
 FROM ros:humble
 
-# install ros package
+# Add ROS 2 testing server
+RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2-testing/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-testing.list
+
+# install ros packages
 RUN apt-get update && apt-get install -y \
       ros-${ROS_DISTRO}-irobot-create-msgs \
-      ros-${ROS_DISTRO}-domain-bridge \
-      nano && \
+      ros-${ROS_DISTRO}-create3-republisher \
+      git \
+      nano \
+      net-tools && \
     rm -rf /var/lib/apt/lists/*
 
 ARG USERNAME=ros
@@ -12,39 +17,14 @@ ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
 # Create a non-root user
-RUN groupadd --gid $USER_GID $USERNAME \
-  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
-  # [Optional] Add sudo support for the non-root user
-  && apt-get update \
-  && apt-get install -y sudo \
-  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
-  && chmod 0440 /etc/sudoers.d/$USERNAME \
-  # Cleanup
-  && rm -rf /var/lib/apt/lists/* \
-  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
-  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
-
-
-#ENV ROS_WS=/opt/ws
-#RUN mkdir -p $ROS_WS/src
-#
-#WORKDIR $ROS_WS/src
-#RUN git clone https://github.com/ros2/domain_bridge.git -b humble
-#
-#WORKDIR $ROS_WS
-#RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-#  colcon build --symlink-install
-
-
-# #!/bin/bash
-# set -e
-#
-# # setup ros2 environment
-# source "/opt/ros/$ROS_DISTRO/setup.bash" --
-# exec "$@"
-#RUN echo "#!/bin/bash" > /ros_entrypoint.sh && \
-#  echo "set -e" >> /ros_entrypoint.sh && \
-#  echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /ros_entrypoint.sh && \
-#  echo "source $ROS_WS/install/setup.bash" >> /ros_entrypoint.sh && \
-#  echo "exec \"\$@\"" >> /ros_entrypoint.sh && \
-#  chmod +x /ros_entrypoint.sh
+#RUN groupadd --gid $USER_GID $USERNAME \
+#  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+#  # [Optional] Add sudo support for the non-root user
+#  && apt-get update \
+#  && apt-get install -y sudo \
+#  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+#  && chmod 0440 /etc/sudoers.d/$USERNAME \
+#  # Cleanup
+#  && rm -rf /var/lib/apt/lists/* \
+#  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
+#  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
diff --git a/etc/turtlebot4/docker/build.sh b/etc/turtlebot4/docker/build.sh
index fe748a7..63529b7 100755
--- a/etc/turtlebot4/docker/build.sh
+++ b/etc/turtlebot4/docker/build.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-docker build -t create3-bridge .
+docker build -t create3-republisher .

From c4bb7792425f6126f3ae722ccba553a4765f2d10 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 9 Jul 2024 15:48:50 -0400
Subject: [PATCH 06/40] Use macvlan to give the container a unique, public
 address. Add a macvlan bridge to allow the container to communicate with the
 host

---
 etc/rc.local                      | 11 +++++++++++
 etc/turtlebot4/docker-compose.yml | 16 ++++++++++++++--
 etc/turtlebot4/docker/Dockerfile  |  3 ++-
 3 files changed, 27 insertions(+), 3 deletions(-)
 create mode 100755 etc/rc.local

diff --git a/etc/rc.local b/etc/rc.local
new file mode 100755
index 0000000..c4675d7
--- /dev/null
+++ b/etc/rc.local
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+# Give ourselves some swap to deal with RAM issues
+if [ -f /swapfile ]; then
+  swapon /swapfile
+fi
+
+# Create a macvlan bridge to communicate with the docker container
+ip link add vlan-shim link usb0 type macvlan mode bridge
+ip addr add 192.168.186.10/24 dev vlan-shim
+ip link set vlan-shim up
diff --git a/etc/turtlebot4/docker-compose.yml b/etc/turtlebot4/docker-compose.yml
index f948e7a..c4996ef 100644
--- a/etc/turtlebot4/docker-compose.yml
+++ b/etc/turtlebot4/docker-compose.yml
@@ -1,7 +1,7 @@
 services:
   create3-republisher:
     image: create3-republisher:latest
-    restart: no
+    restart: always
     env_file:
       - /etc/turtlebot4/docker/config/create3.env
     command: ros2 launch create3_republisher create3_republisher_launch.py robot_ns:=/ republisher_ns:=/create3_repub
@@ -9,4 +9,16 @@ services:
       - create3
     volumes:
       - /etc/turtlebot4/docker/config:/opt/config
-    network_mode: host
+    networks:
+      vlan:
+        ipv4_address: 192.168.186.100
+
+networks:
+  vlan:
+    driver: macvlan
+    driver_opts:
+      parent: usb0
+    ipam:
+      config:
+        - subnet: 192.168.186.0/24
+          ip_range: 192.168.186.0/24
diff --git a/etc/turtlebot4/docker/Dockerfile b/etc/turtlebot4/docker/Dockerfile
index 7d8a241..0c21467 100644
--- a/etc/turtlebot4/docker/Dockerfile
+++ b/etc/turtlebot4/docker/Dockerfile
@@ -9,7 +9,8 @@ RUN apt-get update && apt-get install -y \
       ros-${ROS_DISTRO}-create3-republisher \
       git \
       nano \
-      net-tools && \
+      net-tools \
+      iputils-ping && \
     rm -rf /var/lib/apt/lists/*
 
 ARG USERNAME=ros

From c22d543151155d8a35f9bb69b86fa4dc2e7f4915 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 11 Jul 2024 12:56:43 -0400
Subject: [PATCH 07/40] Update the RMW configuration files, remove the
 vlan-shim interface. Block the host Jazzy environment from communicating on
 the 192.168.186.0/24 subnet, create a second bridge interface for
 host/container communication. Action feedback & results don't seem to be
 working, but the robot does appear to be mobile now

---
 etc/rc.local                                  |  5 ---
 etc/turtlebot4/docker-compose.yml             | 15 +++++++-
 .../docker/config/fastrtps-repub.xml          | 12 ------
 etc/turtlebot4/fastdds_rpi.xml                | 38 +++++++++++++++----
 4 files changed, 45 insertions(+), 25 deletions(-)

diff --git a/etc/rc.local b/etc/rc.local
index c4675d7..1634c50 100755
--- a/etc/rc.local
+++ b/etc/rc.local
@@ -4,8 +4,3 @@
 if [ -f /swapfile ]; then
   swapon /swapfile
 fi
-
-# Create a macvlan bridge to communicate with the docker container
-ip link add vlan-shim link usb0 type macvlan mode bridge
-ip addr add 192.168.186.10/24 dev vlan-shim
-ip link set vlan-shim up
diff --git a/etc/turtlebot4/docker-compose.yml b/etc/turtlebot4/docker-compose.yml
index c4996ef..bbf1464 100644
--- a/etc/turtlebot4/docker-compose.yml
+++ b/etc/turtlebot4/docker-compose.yml
@@ -4,7 +4,7 @@ services:
     restart: always
     env_file:
       - /etc/turtlebot4/docker/config/create3.env
-    command: ros2 launch create3_republisher create3_republisher_launch.py robot_ns:=/ republisher_ns:=/create3_repub
+    command: ros2 launch create3_republisher create3_republisher_launch.py robot_ns:=/create3 republisher_ns:=/
     profiles:
       - create3
     volumes:
@@ -12,8 +12,12 @@ services:
     networks:
       vlan:
         ipv4_address: 192.168.186.100
+      tbt4_container_bridge:
+        ipv4_address: 192.168.187.100
 
 networks:
+  # Give the docker container a public-facing IP address on the usb0 network to allow it to
+  # communicate with the Create3 hardware.
   vlan:
     driver: macvlan
     driver_opts:
@@ -22,3 +26,12 @@ networks:
       config:
         - subnet: 192.168.186.0/24
           ip_range: 192.168.186.0/24
+
+  # Define a second interface for the container to allow it to talk with the host without
+  # risking spilling over into the 192.168.186.0/24 subnet
+  tbt4_container_bridge:
+    driver: bridge
+    ipam:
+      config:
+        - subnet: 192.168.187.0/24
+          ip_range: 192.168.187.0/24
diff --git a/etc/turtlebot4/docker/config/fastrtps-repub.xml b/etc/turtlebot4/docker/config/fastrtps-repub.xml
index d1ca7b0..ea74c33 100644
--- a/etc/turtlebot4/docker/config/fastrtps-repub.xml
+++ b/etc/turtlebot4/docker/config/fastrtps-repub.xml
@@ -3,18 +3,6 @@
     <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
         <participant profile_name="turtlebot4_republisher_profile" is_default_profile="true">
             <rtps>
-                <builtin>
-                    <initialPeersList>
-                        <locator>
-                            <udpv4>
-                                <address>127.0.0.1</address>
-                            </udpv4>
-                            <udpv4>
-                                <address>192.168.186.2</address>
-                            </udpv4>
-                        </locator>
-                    </initialPeersList>
-                </builtin>
                 <builtinTransports>UDPv4</builtinTransports>
             </rtps>
         </participant>
diff --git a/etc/turtlebot4/fastdds_rpi.xml b/etc/turtlebot4/fastdds_rpi.xml
index f5ffbac..fe5124a 100644
--- a/etc/turtlebot4/fastdds_rpi.xml
+++ b/etc/turtlebot4/fastdds_rpi.xml
@@ -1,8 +1,32 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<dds>
-    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-        <participant profile_name="turtlebot4_default_profile" is_default_profile="true">
-            <rtps/>
-        </participant>
-    </profiles>
+<?xml version="1.0" encoding="UTF-8"?>
+<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+  <profiles>
+    <transport_descriptors>
+      <transport_descriptor>
+        <transport_id>udp_transport</transport_id>
+        <type>UDPv4</type>
+        <interfaces>
+          <!--
+            Block traffic to the create3;
+            If Jazzy nodes contact the create3 directly the nodes on the
+            create3 will crash because of DDS changes between Humble & Iron
+            (and the create3 firmware is built for Humble)
+          -->
+          <blocklist>
+            <interface name="usb0" />
+            <interface name="192.168.186.0" netmask_filter="ON" />
+          </blocklist>
+        </interfaces>
+      </transport_descriptor>
+    </transport_descriptors>
+
+    <participant profile_name="domainparticipant_profile_name" is_default_profile="true">
+      <rtps>
+        <userTransports>
+          <transport_id>udp_transport</transport_id>
+        </userTransports>
+        <useBuiltinTransports>false</useBuiltinTransports>
+      </rtps>
+    </participant>
+  </profiles>
 </dds>

From 05f7f7573013c4d5fa04a8f326a0a85a25bef712 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 11 Jul 2024 13:03:14 -0400
Subject: [PATCH 08/40] Add docker installation to jazzy.sh

---
 scripts/jazzy.sh | 23 ++++++++++++++++++++++-
 1 file changed, 22 insertions(+), 1 deletion(-)

diff --git a/scripts/jazzy.sh b/scripts/jazzy.sh
index 3d02875..d74efda 100755
--- a/scripts/jazzy.sh
+++ b/scripts/jazzy.sh
@@ -1,7 +1,20 @@
 #!/usr/bin/env bash
 sudo apt update && sudo apt install curl gnupg lsb-release -y
+
+# Add ROS sources
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Add Docker sources
+sudo install -m 0755 -d /etc/apt/keyrings
+sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
+sudo chmod a+r /etc/apt/keyrings/docker.asc
+echo \
+  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
+  $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
+  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
+
+# Install the packages
 sudo apt update
 sudo apt install -y \
 ros-jazzy-ros-base \
@@ -12,4 +25,12 @@ wget \
 ros-dev-tools \
 socat \
 network-manager \
-chrony
+chrony \
+docker-ce \
+docker-ce-cli \
+containerd.io \
+docker-buildx-plugin \
+docker-compose-plugin
+
+# Docker post-install configuration
+sudo usermod -a -G docker $(whoami)

From b1cb8c5caef83313d0f1542f0f5412e2a261b152 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 4 Sep 2024 15:00:21 -0400
Subject: [PATCH 09/40] Remove Docker; it's no longer necessary with the I.*.*
 firmware.

---
 etc/turtlebot4/docker/Dockerfile              | 31 -------------------
 etc/turtlebot4/docker/build.sh                |  3 --
 etc/turtlebot4/docker/config/create3.env      |  5 ---
 .../docker/config/fastrtps-repub.xml          | 10 ------
 scripts/create_update.sh                      |  2 +-
 scripts/jazzy.sh                              | 19 +-----------
 6 files changed, 2 insertions(+), 68 deletions(-)
 delete mode 100644 etc/turtlebot4/docker/Dockerfile
 delete mode 100755 etc/turtlebot4/docker/build.sh
 delete mode 100644 etc/turtlebot4/docker/config/create3.env
 delete mode 100644 etc/turtlebot4/docker/config/fastrtps-repub.xml

diff --git a/etc/turtlebot4/docker/Dockerfile b/etc/turtlebot4/docker/Dockerfile
deleted file mode 100644
index 0c21467..0000000
--- a/etc/turtlebot4/docker/Dockerfile
+++ /dev/null
@@ -1,31 +0,0 @@
-FROM ros:humble
-
-# Add ROS 2 testing server
-RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2-testing/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-testing.list
-
-# install ros packages
-RUN apt-get update && apt-get install -y \
-      ros-${ROS_DISTRO}-irobot-create-msgs \
-      ros-${ROS_DISTRO}-create3-republisher \
-      git \
-      nano \
-      net-tools \
-      iputils-ping && \
-    rm -rf /var/lib/apt/lists/*
-
-ARG USERNAME=ros
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-
-# Create a non-root user
-#RUN groupadd --gid $USER_GID $USERNAME \
-#  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
-#  # [Optional] Add sudo support for the non-root user
-#  && apt-get update \
-#  && apt-get install -y sudo \
-#  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
-#  && chmod 0440 /etc/sudoers.d/$USERNAME \
-#  # Cleanup
-#  && rm -rf /var/lib/apt/lists/* \
-#  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
-#  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
diff --git a/etc/turtlebot4/docker/build.sh b/etc/turtlebot4/docker/build.sh
deleted file mode 100755
index 63529b7..0000000
--- a/etc/turtlebot4/docker/build.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-
-docker build -t create3-republisher .
diff --git a/etc/turtlebot4/docker/config/create3.env b/etc/turtlebot4/docker/config/create3.env
deleted file mode 100644
index 530d04d..0000000
--- a/etc/turtlebot4/docker/config/create3.env
+++ /dev/null
@@ -1,5 +0,0 @@
-export FASTRTPS_DEFAULT_PROFILES_FILE=/opt/config/fastrtps-repub.xml
-export ROBOT_NAMESPACE=
-export ROS_DOMAIN_ID=0
-export ROS_DISCOVERY_SERVER=
-export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
diff --git a/etc/turtlebot4/docker/config/fastrtps-repub.xml b/etc/turtlebot4/docker/config/fastrtps-repub.xml
deleted file mode 100644
index ea74c33..0000000
--- a/etc/turtlebot4/docker/config/fastrtps-repub.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<dds>
-    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-        <participant profile_name="turtlebot4_republisher_profile" is_default_profile="true">
-            <rtps>
-                <builtinTransports>UDPv4</builtinTransports>
-            </rtps>
-        </participant>
-    </profiles>
-</dds>
diff --git a/scripts/create_update.sh b/scripts/create_update.sh
index 5847051..86f30c1 100755
--- a/scripts/create_update.sh
+++ b/scripts/create_update.sh
@@ -5,7 +5,7 @@
 
 Help()
 {
-   echo "Create 3 update script for robots running H.1.0 or higher"
+   echo "Create 3 update script for robots running I.*.*"
    echo
    echo "usage: bash create_update.sh /path/to/image.swu [-h]"
    echo "options:"
diff --git a/scripts/jazzy.sh b/scripts/jazzy.sh
index d74efda..86cdeba 100755
--- a/scripts/jazzy.sh
+++ b/scripts/jazzy.sh
@@ -5,15 +5,6 @@ sudo apt update && sudo apt install curl gnupg lsb-release -y
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-# Add Docker sources
-sudo install -m 0755 -d /etc/apt/keyrings
-sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
-sudo chmod a+r /etc/apt/keyrings/docker.asc
-echo \
-  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
-  $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
-  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
-
 # Install the packages
 sudo apt update
 sudo apt install -y \
@@ -25,12 +16,4 @@ wget \
 ros-dev-tools \
 socat \
 network-manager \
-chrony \
-docker-ce \
-docker-ce-cli \
-containerd.io \
-docker-buildx-plugin \
-docker-compose-plugin
-
-# Docker post-install configuration
-sudo usermod -a -G docker $(whoami)
+chrony

From cfd0ecae220850ffad304f5e4cad7b2f42188e2c Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 4 Sep 2024 15:04:05 -0400
Subject: [PATCH 10/40] Add a note about firmware compatibility to the readme

---
 README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/README.md b/README.md
index fd99b6e..2fd221c 100644
--- a/README.md
+++ b/README.md
@@ -4,6 +4,8 @@ Setup scripts and tools for the TurtleBot 4 Raspberry Pi.
 
 Visit the [TurtleBot 4 User Manual](https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_setup.html) for more details.
 
+Make sure your Create® 3 is updated to the `I.*.*` firmware; older versions of the firmware are not compatible with ROS 2 Jazzy.
+
 # Create an image manually
 
 Follow these instructions if you wish to create a Turtlebot4 image manually.

From ae6de0757eb741835b2851c0127c34e0b248e3eb Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 5 Sep 2024 12:15:41 -0400
Subject: [PATCH 11/40] Add exception handling to the file i/o so the node
 doesn't just crash if we're missing a file

---
 turtlebot4_setup/conf.py | 25 +++++++++++++++++--------
 1 file changed, 17 insertions(+), 8 deletions(-)

diff --git a/turtlebot4_setup/conf.py b/turtlebot4_setup/conf.py
index 7271c5e..e7bf36b 100644
--- a/turtlebot4_setup/conf.py
+++ b/turtlebot4_setup/conf.py
@@ -3,6 +3,7 @@
 import yaml
 import subprocess
 import shlex
+import sys
 
 from enum import Enum
 
@@ -137,16 +138,24 @@ def apply_default(self, conf):
             self.discovery_conf = copy.deepcopy(self.default_discovery_conf)
 
     def read(self):
-        self.read_system()
-        self.read_wifi()
-        self.read_bash()
-        self.read_discovery()  # Must come after read_bash in order to have the discovery server envar
+        try:
+            self.read_system()
+            self.read_wifi()
+            self.read_bash()
+            self.read_discovery()  # Must come after read_bash in order to have the discovery server envar
+        except Exception as err:
+            print(f'Error reading configuration: {err}. Terminating')
+            sys.exit(1)
 
     def write(self):
-        self.write_system()
-        self.write_wifi()
-        self.write_discovery()
-        self.write_bash()
+        try:
+            self.write_system()
+            self.write_wifi()
+            self.write_discovery()
+            self.write_bash()
+        except Exception as err:
+            print(f'Error writing configuration: {err}. Configuration may be incomplete')
+            sys.exit(1)
 
     def read_system(self):
         with open(self.system_file, 'r') as f:

From ed94f15ce226a1744ebfcf11c77c3ab4b0697218 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 5 Sep 2024 12:16:10 -0400
Subject: [PATCH 12/40] Add proper escape characters to title backslashes

---
 turtlebot4_setup/turtlebot4_setup | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/turtlebot4_setup/turtlebot4_setup b/turtlebot4_setup/turtlebot4_setup
index 2de70b4..f017bf2 100755
--- a/turtlebot4_setup/turtlebot4_setup
+++ b/turtlebot4_setup/turtlebot4_setup
@@ -15,8 +15,8 @@ class Turtlebot4Setup():
     title = """
   _____         _   _     ___      _   _ _    ___      _
  |_   _|  _ _ _| |_| |___| _ ) ___| |_| | |  / __| ___| |_ _  _ _ __
-   | || || | '_|  _| / -_) _ \/ _ \  _|_  _| \__ \/ -_)  _| || | '_ \\
-   |_| \_,_|_|  \__|_\___|___/\___/\__| |_|  |___/\___|\__|\_,_| .__/
+   | || || | '_|  _| / -_) _ \\/ _ \\  _|_  _| \\__ \\/ -_)  _| || | '_ \\
+   |_| \\_,_|_|  \\__|_\\___|___/\\___/\\__| |_|  |___/\\___|\\__|\\_,_| .__/
                                                                |_|
 """
 
@@ -104,9 +104,9 @@ class Turtlebot4Setup():
             text = 'No changes made.\n'
         text = """
     _             _        ___      _   _   _
-   /_\  _ __ _ __| |_  _  / __| ___| |_| |_(_)_ _  __ _ ___
-  / _ \| '_ \ '_ \ | || | \__ \/ -_)  _|  _| | ' \/ _` (_-<
- /_/ \_\ .__/ .__/_|\_, | |___/\___|\__|\__|_|_||_\__, /__/
+   /_\\  _ __ _ __| |_  _  / __| ___| |_| |_(_)_ _  __ _ ___
+  / _ \\| '_ \\ '_ \\ | || | \\__ \\/ -_)  _|  _| | ' \\/ _` (_-<
+ /_/ \\_\\ .__/ .__/_|\\_, | |___/\\___|\\__|\\__|_|_||_\\__, /__/
        |_|  |_|     |__/                          |___/    \n\n""" + text
 
         text += '\nApply these settings?\n'

From 92cab31970825d15cbaab186f49b52d7b2844b66 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 5 Sep 2024 12:23:49 -0400
Subject: [PATCH 13/40] Add improved exception handling to the wifi settings
 parser

---
 turtlebot4_setup/conf.py | 54 ++++++++++++++++++++++------------------
 1 file changed, 30 insertions(+), 24 deletions(-)

diff --git a/turtlebot4_setup/conf.py b/turtlebot4_setup/conf.py
index e7bf36b..420a95a 100644
--- a/turtlebot4_setup/conf.py
+++ b/turtlebot4_setup/conf.py
@@ -195,36 +195,42 @@ def write_system(self):
         subprocess.run(shlex.split('sudo mv /tmp' + self.hostname_file + ' ' + self.hostname_file))
 
     def read_wifi(self):
-        netplan = yaml.load(open(self.netplan_wifis_file, 'r'), yaml.SafeLoader)
-        # wlan0 Config
-        wlan0 = netplan['network']['wifis']['wlan0']
+        try:
+            # Try to open the existing wifi configuration, but if it doesn't exist we can carry on
+            netplan = yaml.load(open(self.netplan_wifis_file, 'r'), yaml.SafeLoader)
 
-        # Get SSID
-        self.set(WifiOptions.SSID, list(wlan0['access-points'])[0])
-        # SSID settings
-        ssid_settings = wlan0['access-points'][self.get(WifiOptions.SSID)]
+            # wlan0 Config
+            wlan0 = netplan['network']['wifis']['wlan0']
 
-        self.set(WifiOptions.PASSWORD, ssid_settings.get('password'))
+            # Get SSID
+            self.set(WifiOptions.SSID, list(wlan0['access-points'])[0])
+            # SSID settings
+            ssid_settings = wlan0['access-points'][self.get(WifiOptions.SSID)]
 
-        if wlan0.get('addresses'):
-            self.set(WifiOptions.IP, wlan0['addresses'][0])
-        else:
-            self.set(WifiOptions.IP, None)
+            self.set(WifiOptions.PASSWORD, ssid_settings.get('password'))
 
-        if wlan0.get('dhcp4') is True:
-            self.set(WifiOptions.DHCP, True)
-        else:
-            self.set(WifiOptions.DHCP, False)
+            if wlan0.get('addresses'):
+                self.set(WifiOptions.IP, wlan0['addresses'][0])
+            else:
+                self.set(WifiOptions.IP, None)
 
-        if ssid_settings.get('mode') == 'ap':
-            self.set(WifiOptions.WIFI_MODE, 'Access Point')
-        else:
-            self.set(WifiOptions.WIFI_MODE, 'Client')
+            if wlan0.get('dhcp4') is True:
+                self.set(WifiOptions.DHCP, True)
+            else:
+                self.set(WifiOptions.DHCP, False)
 
-        if ssid_settings.get('band'):
-            self.set(WifiOptions.BAND, ssid_settings.get('band'))
-        else:
-            self.set(WifiOptions.BAND, 'Any')
+            if ssid_settings.get('mode') == 'ap':
+                self.set(WifiOptions.WIFI_MODE, 'Access Point')
+            else:
+                self.set(WifiOptions.WIFI_MODE, 'Client')
+
+            if ssid_settings.get('band'):
+                self.set(WifiOptions.BAND, ssid_settings.get('band'))
+            else:
+                self.set(WifiOptions.BAND, 'Any')
+        except:
+            # If the wifi configuration doesn't have a wlan0 configuration, just skip this
+            pass
 
     def write_wifi(self):
         ssid = self.get(WifiOptions.SSID)

From 209f6a255e3063f5a600362dfaa50e24a9bee379 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 10 Sep 2024 11:53:34 -0400
Subject: [PATCH 14/40] Update CI

---
 .github/workflows/ci.yml | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 043e79f..996fee0 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -8,6 +8,14 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v2.3.4
-      - uses: ros-tooling/setup-ros@v0.3
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: jazzy
+      - uses: ros-tooling/action-ros-ci@v0.3
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: jazzy
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          skip-tests: false
+          package-name:
+            turtlebot4_setup

From 07418fd4f4b673e0316dfcb12c251ee1e0b9eedf Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 10 Sep 2024 12:25:23 -0400
Subject: [PATCH 15/40] Properly escape all \ characters in stylized titles,
 add translation & link to generator page in comments

---
 turtlebot4_setup/menu.py          | 12 ++++----
 turtlebot4_setup/ros_setup.py     | 49 ++++++++++++++++---------------
 turtlebot4_setup/turtlebot4_setup |  2 ++
 turtlebot4_setup/wifi.py          | 11 +++----
 4 files changed, 38 insertions(+), 36 deletions(-)

diff --git a/turtlebot4_setup/menu.py b/turtlebot4_setup/menu.py
index 5a1c945..8de0a20 100644
--- a/turtlebot4_setup/menu.py
+++ b/turtlebot4_setup/menu.py
@@ -7,8 +7,6 @@
 
 import os
 
-import readline
-
 
 class MenuEntry():
 
@@ -123,13 +121,13 @@ def show(self):
 
 
 class HelpMenu(Menu):
-
+    # Help -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
     title = """
-  _  _     _    
- | || |___| |_ __ 
+  _  _     _
+ | || |___| |_ __
  | __ / -_) | '_ \\
- |_||_\___|_| .__/
-            |_|  
+ |_||_\\___|_| .__/
+            |_|
 """
 
     def __init__(self, text: str, display_help_title=True) -> None:
diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index 93a3edb..68b8c04 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -9,13 +9,13 @@
 
 
 class RosSetup():
-
+    # ROS Setup -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
     title = """
-  ___  ___  ___   ___      _  
- | _ \/ _ \/ __| / __| ___| |_ _  _ _ __ 
- |   / (_) \__ \ \__ \/ -_)  _| || | '_ \\
- |_|_\\\___/|___/ |___/\\___|\\__|\\_,_| .__/
-                                   |_| 
+  ___  ___  ___   ___      _
+ | _ \\\\/ _ \\\\/ __| / __| ___| |_ _  _ _ __
+ |   / (_) \\\\__ \\\\ \\\\__ \\\\/ -_)  _| || | '_ \\\\
+ |_|_\\\\\\\\___/|___/ |___/\\\\___|\\\\__|\\\\_,_| .__/
+                                   |_|
 """
 
     setup_dir = '/etc/turtlebot4/'
@@ -38,13 +38,13 @@ def show(self):
 
 
 class BashSetup():
-
+    # Bash Setup -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
     title = """
-  ___          _      ___      _             
- | _ ) __ _ __| |_   / __| ___| |_ _  _ _ __ 
- | _ \/ _` (_-< ' \  \__ \/ -_)  _| || | '_ \\
- |___/\__,_/__/_||_| |___/\___|\__|\_,_| .__/
-                                       |_|       
+  ___          _      ___      _
+ | _ ) __ _ __| |_   / __| ___| |_ _  _ _ __
+ | _ \\/ _` (_-< ' \\  \\__ \\/ -_)  _| || | '_ \\
+ |___/\\__,_/__/_||_| |___/\\___|\\__|\\_,_| .__/
+                                       |_|
 """
 
     def __init__(self, conf: Conf) -> None:
@@ -99,7 +99,7 @@ def set_ros_domain_id(self):
                    default_response=self.conf.get(BashOptions.DOMAIN_ID),
                    response_type=int,
                    note='ROS Domain ID (0-101) or (215-232)')
-        domain_id = p.show()        
+        domain_id = p.show()
         domain_id = max(0, min(int(domain_id), 232))
         if (domain_id > 101 and domain_id < 215):
             domain_id = 101
@@ -157,12 +157,13 @@ def apply_defaults(self):
 
 
 class DiscoveryServer():
+    # Discovery Server -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
     title = """
-  ___  _                               ___       
- |   \(_)___ __ _____ _____ _ _ _  _  / __| ___ _ ___ _____ _ _
- | |) | (_-</ _/ _ \ V / -_) '_| || | \__ \/ -_) '_\ V / -_) '_|
- |___/|_/__/\__\___/\_/\___|_|  \_, | |___/\___|_|  \_/\___|_|
-                                |__/                          
+  ___  _                               ___
+ |   \\(_)___ __ _____ _____ _ _ _  _  / __| ___ _ ___ _____ _ _
+ | |) | (_-</ _/ _ \\ V / -_) '_| || | \\__ \\/ -_) '_\\ V / -_) '_|
+ |___/|_/__/\\__\\___/\\_/\\___|_|  \\_, | |___/\\___|_|  \\_/\\___|_|
+                                |__/
 """
 
     def __init__(self, configs: Conf) -> None:
@@ -261,13 +262,13 @@ def save_settings(self):
 
 
 class RobotUpstart():
-
+    # Robot Upstart -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
     title = """
-  ___     _         _     _   _         _            _   
- | _ \___| |__  ___| |_  | | | |_ __ __| |_ __ _ _ _| |_ 
- |   / _ \ '_ \/ _ \  _| | |_| | '_ (_-<  _/ _` | '_|  _|
- |_|_\___/_.__/\___/\__|  \___/| .__/__/\__\__,_|_|  \__|
-                               |_|                      
+  ___     _         _     _   _         _            _
+ | _ \\___| |__  ___| |_  | | | |_ __ __| |_ __ _ _ _| |_
+ |   / _ \\ '_ \\/ _ \\  _| | |_| | '_ (_-<  _/ _` | '_|  _|
+ |_|_\\___/_.__/\\___/\\__|  \\___/| .__/__/\\__\\__,_|_|  \\__|
+                               |_|
 """
 
     def __init__(self, configs: Conf) -> None:
diff --git a/turtlebot4_setup/turtlebot4_setup b/turtlebot4_setup/turtlebot4_setup
index f017bf2..45c7b6e 100755
--- a/turtlebot4_setup/turtlebot4_setup
+++ b/turtlebot4_setup/turtlebot4_setup
@@ -12,6 +12,7 @@ from turtlebot4_setup.conf import Conf, SystemOptions, BashOptions, WifiOptions,
 
 
 class Turtlebot4Setup():
+    # TurtleBot4 Setup -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
     title = """
   _____         _   _     ___      _   _ _    ___      _
  |_   _|  _ _ _| |_| |___| _ ) ___| |_| | |  / __| ___| |_ _  _ _ __
@@ -102,6 +103,7 @@ class Turtlebot4Setup():
 
         if text == '':
             text = 'No changes made.\n'
+        # Apply Settings -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
         text = """
     _             _        ___      _   _   _
    /_\\  _ __ _ __| |_  _  / __| ___| |_| |_(_)_ _  __ _ ___
diff --git a/turtlebot4_setup/wifi.py b/turtlebot4_setup/wifi.py
index 1202322..58f60c2 100644
--- a/turtlebot4_setup/wifi.py
+++ b/turtlebot4_setup/wifi.py
@@ -6,12 +6,13 @@
 
 
 class WifiSetup():
+    # WiFi Setup -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
     title = """
- __      ___ ___ _   ___      _ 
- \ \    / (_) __(_) / __| ___| |_ _  _ _ __ 
-  \ \/\/ /| | _|| | \__ \/ -_)  _| || | '_ \\
-   \_/\_/ |_|_| |_| |___/\___|\__|\_,_| .__/
-                                      |_|    
+ __      ___ ___ _   ___      _
+ \\ \\    / (_) __(_) / __| ___| |_ _  _ _ __
+  \\ \\/\\/ /| | _|| | \\__ \\/ -_)  _| || | '_ \\
+   \\_/\\_/ |_|_| |_| |___/\\___|\\__|\\_,_| .__/
+                                      |_|
 """
 
     def __init__(self, configs: Conf) -> None:

From 84c0f14a2cd07c5dce37bef5ed8943b6b7d50e2f Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 10 Sep 2024 14:37:14 -0400
Subject: [PATCH 16/40] Add copyright & contribution notices, fix up code
 formatting, import ordering. Disable linting for some specific lines where
 appropriate

---
 CONTRIBUTING.md                   |  15 ++++
 turtlebot4_setup/conf.py          |  64 ++++++++++++-----
 turtlebot4_setup/menu.py          |  38 +++++++---
 turtlebot4_setup/ros_setup.py     | 115 +++++++++++++++++++-----------
 turtlebot4_setup/turtlebot4_setup |  24 ++++++-
 turtlebot4_setup/wifi.py          |  65 +++++++++++------
 6 files changed, 229 insertions(+), 92 deletions(-)
 create mode 100644 CONTRIBUTING.md

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 0000000..35ba863
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,15 @@
+# Contributing to TurtleBot4 Setup
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
diff --git a/turtlebot4_setup/conf.py b/turtlebot4_setup/conf.py
index 420a95a..43696f3 100644
--- a/turtlebot4_setup/conf.py
+++ b/turtlebot4_setup/conf.py
@@ -1,11 +1,33 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Clearpath Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import copy
+from enum import Enum
 import os
-import yaml
-import subprocess
 import shlex
+import subprocess
 import sys
 
-from enum import Enum
+import yaml
+
+
+__author__ = 'Roni Kreinin'
+__email__ = 'rkreinin@clearpathrobotics.com'
+__copyright__ = 'Copyright © 2023 Clearpath Robotics. All rights reserved.'
+__license__ = 'Apache 2.0'
 
 
 class SystemOptions(str, Enum):
@@ -117,7 +139,7 @@ def get(self, conf):
             return self.discovery_conf.get(conf)
         return None
 
-    def set(self, conf, value):
+    def set(self, conf, value):  # noqa: A003
         if isinstance(conf, SystemOptions):
             self.system_conf[conf] = value
         elif isinstance(conf, WifiOptions):
@@ -142,7 +164,8 @@ def read(self):
             self.read_system()
             self.read_wifi()
             self.read_bash()
-            self.read_discovery()  # Must come after read_bash in order to have the discovery server envar
+            # Must come after read_bash in order to have the discovery server envar
+            self.read_discovery()
         except Exception as err:
             print(f'Error reading configuration: {err}. Terminating')
             sys.exit(1)
@@ -228,7 +251,7 @@ def read_wifi(self):
                 self.set(WifiOptions.BAND, ssid_settings.get('band'))
             else:
                 self.set(WifiOptions.BAND, 'Any')
-        except:
+        except Exception:
             # If the wifi configuration doesn't have a wlan0 configuration, just skip this
             pass
 
@@ -270,7 +293,7 @@ def write_wifi(self):
         }
 
         with open('/tmp' + self.netplan_wifis_file, 'w') as f:
-            f.write('# This file was automatically created by the turtlebot4-setup tool and should not be manually modified\n\n')
+            f.write('# This file was automatically created by the turtlebot4-setup tool and should not be manually modified\n\n')  # noqa: E501
 
         yaml.dump(netplan,
                   stream=open('/tmp' + self.netplan_wifis_file, 'a'),
@@ -279,7 +302,8 @@ def write_wifi(self):
                   default_flow_style=False,
                   default_style=None)
 
-        subprocess.run(shlex.split('sudo mv /tmp' + self.netplan_wifis_file + ' ' + self.netplan_wifis_file))
+        subprocess.run(shlex.split(
+            'sudo mv /tmp' + self.netplan_wifis_file + ' ' + self.netplan_wifis_file))
 
     def read_bash(self):
         with open(self.setup_bash_file, 'r') as f:
@@ -314,7 +338,8 @@ def write_bash(self):
                             # Ensure super client is only applied on user terminals
                             bash[i] = f'[ -t 0 ] && export {k}={v} || export {k}=False\n'
                         else:
-                            # Quotations required around v to handle multiple servers in discovery server
+                            # Quotations required around v to handle multiple servers
+                            # in discovery server
                             bash[i] = f'export {k}=\"{v}\"\n'
                         found = True
 
@@ -322,14 +347,15 @@ def write_bash(self):
                 if not found:
                     if (k == BashOptions.SUPER_CLIENT and str(v) == 'True'):
                         # Ensure super client is only applied on user terminals
-                        bash.insert(0,f'[ -t 0 ] && export {k}={v} || export {k}=False\n')
+                        bash.insert(0, f'[ -t 0 ] && export {k}={v} || export {k}=False\n')
                     else:
-                        # Quotations required around v to handle multiple servers in discovery server
-                        bash.insert(0,f'export {k}=\"{v}\"\n')
+                        # Quotations required around v to handle multiple servers
+                        # in discovery server
+                        bash.insert(0, f'export {k}=\"{v}\"\n')
 
         with open('/tmp' + self.setup_bash_file, 'w') as f:
             f.writelines(bash)
-        subprocess.run(shlex.split('sudo mv /tmp' + self.setup_bash_file + ' ' + self.setup_bash_file))
+        subprocess.run(shlex.split(f'sudo mv /tmp{self.setup_bash_file} {self.setup_bash_file}'))
 
         for k, v in self.bash_conf.items():
             if v is None:
@@ -359,10 +385,11 @@ def read_discovery(self):
                             self.set(DiscoveryOptions.OFFBOARD_ID, i)
                             self.set(DiscoveryOptions.OFFBOARD_IP, server[0].strip('\'"'))
                             if len(server) > 1:
-                                self.set(DiscoveryOptions.OFFBOARD_PORT, int(server[1].strip('\'"')))
+                                self.set(
+                                    DiscoveryOptions.OFFBOARD_PORT, int(server[1].strip('\'"')))
                             else:
                                 self.set(DiscoveryOptions.OFFBOARD_PORT, 11811)
-            except:
+            except Exception:
                 self.discovery_conf = self.default_discovery_conf
 
     def write_discovery(self):
@@ -373,10 +400,11 @@ def write_discovery(self):
 
             with open('/tmp' + self.discovery_sh_file, 'w') as f:
                 f.write('#!/bin/bash\n')
-                f.write('# This file was automatically created by the turtlebot4-setup tool and should not be manually modified\n\n')
+                f.write('# This file was automatically created by the turtlebot4-setup tool and should not be manually modified\n\n')  # noqa: E501
                 f.write(f'source {self.get(BashOptions.WORKSPACE)}\n')
-                f.write(f'fastdds discovery -i {self.get(DiscoveryOptions.SERVER_ID)} -p {self.get(DiscoveryOptions.PORT)}')
-            subprocess.run(shlex.split('sudo mv /tmp' + self.discovery_sh_file + ' ' + self.discovery_sh_file))
+                f.write(f'fastdds discovery -i {self.get(DiscoveryOptions.SERVER_ID)} -p {self.get(DiscoveryOptions.PORT)}')  # noqa: E501
+            subprocess.run(shlex.split(
+                'sudo mv /tmp' + self.discovery_sh_file + ' ' + self.discovery_sh_file))
         else:
             self.set(BashOptions.DISCOVERY_SERVER, None)
             self.set(BashOptions.SUPER_CLIENT, False)
diff --git a/turtlebot4_setup/menu.py b/turtlebot4_setup/menu.py
index 8de0a20..546a28d 100644
--- a/turtlebot4_setup/menu.py
+++ b/turtlebot4_setup/menu.py
@@ -1,11 +1,33 @@
-from simple_term_menu_vendor.simple_term_menu import TerminalMenu
+#!/usr/bin/env python3
+
+# Copyright 2024 Clearpath Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
 
-from typing import List, Callable, Union
+from typing import Callable, List, Union
 
 from pygments import formatters, highlight, lexers
 from pygments.util import ClassNotFound
 
-import os
+from simple_term_menu_vendor.simple_term_menu import TerminalMenu
+
+
+__author__ = 'Roni Kreinin'
+__email__ = 'rkreinin@clearpathrobotics.com'
+__copyright__ = 'Copyright © 2023 Clearpath Robotics. All rights reserved.'
+__license__ = 'Apache 2.0'
 
 
 class MenuEntry():
@@ -78,7 +100,7 @@ def reset_term_menu(self):
         self.menu = self.create_term_menu()
         self.menu_sel = 0
 
-    def exit(self):
+    def exit(self):  # noqa: A003
         self.menu_exit = True
 
     def show(self, reset=True):
@@ -96,7 +118,7 @@ def show(self, reset=True):
 
 class OptionsMenu(Menu):
 
-    def __init__(self, title: Union[str, Callable], menu_entries: List[str], default_option=None) -> None:
+    def __init__(self, title: Union[str, Callable], menu_entries: List[str], default_option=None) -> None:  # noqa: E501
         self.option = default_option
         self.menu_entries = []
 
@@ -197,12 +219,12 @@ def list_files(self):
         return files
 
     def highlight_file(self, filepath):
-        with open(filepath, "r") as f:
+        with open(filepath, 'r') as f:
             file_content = f.read()
         try:
             lexer = lexers.get_lexer_for_filename(filepath, stripnl=False, stripall=False)
         except ClassNotFound:
-            lexer = lexers.get_lexer_by_name("text", stripnl=False, stripall=False)
-        formatter = formatters.TerminalFormatter(bg="dark")  # dark or light
+            lexer = lexers.get_lexer_by_name('text', stripnl=False, stripall=False)
+        formatter = formatters.TerminalFormatter(bg='dark')  # dark or light
         highlighted_file_content = highlight(file_content, lexer, formatter)
         return highlighted_file_content
diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index 68b8c04..c334500 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -1,11 +1,32 @@
-from turtlebot4_setup.menu import Menu, OptionsMenu, MenuEntry, Prompt
-from turtlebot4_setup.conf import Conf, SystemOptions, BashOptions, DiscoveryOptions
+#!/usr/bin/env python3
+
+# Copyright 2024 Clearpath Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import os
-
-import subprocess, shlex
+import shlex
+import subprocess
 
 import robot_upstart
+from turtlebot4_setup.conf import BashOptions, Conf, DiscoveryOptions, SystemOptions
+from turtlebot4_setup.menu import Menu, MenuEntry, OptionsMenu, Prompt
+
+
+__author__ = 'Roni Kreinin'
+__email__ = 'rkreinin@clearpathrobotics.com'
+__copyright__ = 'Copyright © 2023 Clearpath Robotics. All rights reserved.'
+__license__ = 'Apache 2.0'
 
 
 class RosSetup():
@@ -138,14 +159,15 @@ def set_robot_namespace(self):
                    note='ROS2 namespace')
         # Add '/' if needed
         ns = p.show()
-        if ns != None and ns[0] != '/':
+        if ns is not None and ns[0] != '/':
             ns = '/' + ns
         self.conf.set(BashOptions.NAMESPACE, ns)
 
     def set_turtlebot4_diagnostics(self):
-        options = OptionsMenu(title=BashOptions.DIAGNOSTICS,
-                              menu_entries=['Enabled', 'Disabled'],
-                              default_option='Enabled' if self.conf.get(BashOptions.DIAGNOSTICS) == '1' else 'Disabled')
+        options = OptionsMenu(
+            title=BashOptions.DIAGNOSTICS,
+            menu_entries=['Enabled', 'Disabled'],
+            default_option='Enabled' if self.conf.get(BashOptions.DIAGNOSTICS) == '1' else 'Disabled')  # noqa: E501
         self.conf.set(BashOptions.DIAGNOSTICS, '1' if options.show() == 'Enabled' else '0')
 
     def save_settings(self):
@@ -169,21 +191,28 @@ class DiscoveryServer():
     def __init__(self, configs: Conf) -> None:
         self.conf = configs
 
-        self.entries = [MenuEntry(entry=self.format_entry('Enabled', DiscoveryOptions.ENABLED),
-                                  function=self.set_enabled),
-                        MenuEntry(entry=self.format_entry('Onboard Server - Port', DiscoveryOptions.PORT),
-                                  function=self.set_port),
-                        MenuEntry(entry=self.format_entry('Onboard Server - Server ID', DiscoveryOptions.SERVER_ID),
-                                  function=self.set_server_id),
-                        MenuEntry(entry=self.format_entry('Offboard Server - IP', DiscoveryOptions.OFFBOARD_IP),
-                                  function=self.set_offboard_ip),
-                        MenuEntry(entry=self.format_entry('Offboard Server - Port', DiscoveryOptions.OFFBOARD_PORT),
-                                  function=self.set_offboard_port),
-                        MenuEntry(entry=self.format_entry('Offboard Server - Server ID', DiscoveryOptions.OFFBOARD_ID),
-                                  function=self.set_offboard_server_id),
-                        MenuEntry('', None),
-                        MenuEntry(entry='Apply Defaults', function=self.apply_defaults),
-                        MenuEntry(entry='Save', function=self.save_settings)]
+        self.entries = [
+            MenuEntry(
+                entry=self.format_entry('Enabled', DiscoveryOptions.ENABLED),
+                function=self.set_enabled),
+            MenuEntry(
+                entry=self.format_entry('Onboard Server - Port', DiscoveryOptions.PORT),
+                function=self.set_port),
+            MenuEntry(
+                entry=self.format_entry('Onboard Server - Server ID', DiscoveryOptions.SERVER_ID),
+                function=self.set_server_id),
+            MenuEntry(
+                entry=self.format_entry('Offboard Server - IP', DiscoveryOptions.OFFBOARD_IP),
+                function=self.set_offboard_ip),
+            MenuEntry(
+                entry=self.format_entry('Offboard Server - Port', DiscoveryOptions.OFFBOARD_PORT),
+                function=self.set_offboard_port),
+            MenuEntry(
+                entry=self.format_entry('Offboard Server - Server ID', DiscoveryOptions.OFFBOARD_ID),  # noqa: E501
+                function=self.set_offboard_server_id),
+            MenuEntry('', None),
+            MenuEntry(entry='Apply Defaults', function=self.apply_defaults),
+            MenuEntry(entry='Save', function=self.save_settings)]
 
         self.menu = Menu(title=self.title, menu_entries=self.entries)
 
@@ -218,7 +247,7 @@ def set_server_id(self):
                    note='Onboard Discovery Server ID (0-255)')
         server_id = p.show()
         server_id = max(0, min(int(server_id), 255))
-        if (self.conf.get(DiscoveryOptions.OFFBOARD_IP) and (server_id == int(self.conf.get(DiscoveryOptions.OFFBOARD_ID)))):
+        if (self.conf.get(DiscoveryOptions.OFFBOARD_IP) and (server_id == int(self.conf.get(DiscoveryOptions.OFFBOARD_ID)))):  # noqa: 501
             return
         self.conf.set(DiscoveryOptions.SERVER_ID, server_id)
 
@@ -246,7 +275,7 @@ def set_offboard_server_id(self):
         p = Prompt(prompt='Server ID [{0}]: '.format(self.conf.get(DiscoveryOptions.OFFBOARD_ID)),
                    default_response=self.conf.get(DiscoveryOptions.OFFBOARD_ID),
                    response_type=int,
-                   note='Offboard Discovery Server ID (0-255) - Cannot be the same as the onboard server')
+                   note='Offboard Discovery Server ID (0-255) - Cannot be the same as the onboard server')  # noqa: 501
         server_id = p.show()
         server_id = max(0, min(int(server_id), 255))
         if (server_id == int(self.conf.get(DiscoveryOptions.SERVER_ID))):
@@ -283,7 +312,8 @@ def __init__(self, configs: Conf) -> None:
                                   function=self.install),
                         MenuEntry(entry='Uninstall',
                                   function=self.uninstall),
-                        MenuEntry(entry='',function=None),
+                        MenuEntry(entry='',
+                                  function=None),
                         MenuEntry(entry='Status',
                                   function=self.view_service_status)]
 
@@ -350,7 +380,8 @@ def uninstall(self):
 
         # Uninstall Discovery Server Service
         if os.path.exists('/lib/systemd/system/discovery.service'):
-            subprocess.run(shlex.split('sudo systemctl stop discovery.service'), capture_output=True)
+            subprocess.run(shlex.split(
+                'sudo systemctl stop discovery.service'), capture_output=True)
             discovery_job = robot_upstart.Job(workspace_setup=os.environ['ROBOT_SETUP'])
             discovery_job.uninstall(Provider=TurtleBot4Extras)
 
@@ -367,26 +398,26 @@ def generate_install(self):
         with open('/etc/turtlebot4/discovery.sh') as f:
             discovery_sh_contents = f.read()
         return {
-            "/lib/systemd/system/discovery.service": {
-                "content": discovery_conf_contents,
-                "mode": 0o644
+            '/lib/systemd/system/discovery.service': {
+                'content': discovery_conf_contents,
+                'mode': 0o644
             },
-            "/usr/sbin/discovery": {
-                "content": discovery_sh_contents,
-                "mode": 0o755
+            '/usr/sbin/discovery': {
+                'content': discovery_sh_contents,
+                'mode': 0o755
             },
-            "/etc/systemd/system/multi-user.target.wants/discovery.service": {
-                "symlink": "/lib/systemd/system/discovery.service"
+            '/etc/systemd/system/multi-user.target.wants/discovery.service': {
+                'symlink': '/lib/systemd/system/discovery.service'
             }}
 
     def generate_uninstall(self):
         return {
-            "/lib/systemd/system/discovery.service": {
-                "remove": True
+            '/lib/systemd/system/discovery.service': {
+                'remove': True
             },
-            "/usr/sbin/discovery": {
-                "remove": True
+            '/usr/sbin/discovery': {
+                'remove': True
             },
-            "/etc/systemd/system/multi-user.target.wants/discovery.service": {
-                "remove": True
-            }}
\ No newline at end of file
+            '/etc/systemd/system/multi-user.target.wants/discovery.service': {
+                'remove': True
+            }}
diff --git a/turtlebot4_setup/turtlebot4_setup b/turtlebot4_setup/turtlebot4_setup
index 45c7b6e..5afc354 100755
--- a/turtlebot4_setup/turtlebot4_setup
+++ b/turtlebot4_setup/turtlebot4_setup
@@ -1,14 +1,34 @@
 #!/usr/bin/env python3
 
+# Copyright 2024 Clearpath Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import copy
 import os
 import subprocess
 import shlex
 
-from turtlebot4_setup.wifi import WifiSetup
+from turtlebot4_setup.conf import Conf, SystemOptions, BashOptions, WifiOptions, DiscoveryOptions
 from turtlebot4_setup.menu import Menu, MenuEntry, OptionsMenu, Prompt, HelpMenu, PreviewMenu
 from turtlebot4_setup.ros_setup import RosSetup
-from turtlebot4_setup.conf import Conf, SystemOptions, BashOptions, WifiOptions, DiscoveryOptions
+from turtlebot4_setup.wifi import WifiSetup
+
+
+__author__ = 'Roni Kreinin'
+__email__ = 'rkreinin@clearpathrobotics.com'
+__copyright__ = 'Copyright © 2023 Clearpath Robotics. All rights reserved.'
+__license__ = 'Apache 2.0'
 
 
 class Turtlebot4Setup():
diff --git a/turtlebot4_setup/wifi.py b/turtlebot4_setup/wifi.py
index 58f60c2..8d68071 100644
--- a/turtlebot4_setup/wifi.py
+++ b/turtlebot4_setup/wifi.py
@@ -1,8 +1,27 @@
-from turtlebot4_setup.menu import Menu, MenuEntry, OptionsMenu, Prompt, PreviewMenu
-
-import subprocess, shlex
+#!/usr/bin/env python3
+
+# Copyright 2024 Clearpath Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 from turtlebot4_setup.conf import Conf, WifiOptions
+from turtlebot4_setup.menu import Menu, MenuEntry, OptionsMenu, Prompt
+
+
+__author__ = 'Roni Kreinin'
+__email__ = 'rkreinin@clearpathrobotics.com'
+__copyright__ = 'Copyright © 2023 Clearpath Robotics. All rights reserved.'
+__license__ = 'Apache 2.0'
 
 
 class WifiSetup():
@@ -20,24 +39,26 @@ def __init__(self, configs: Conf) -> None:
 
         self.conf.read()
 
-        self.entries = [MenuEntry(entry=self.format_entry('Wi-Fi Mode', WifiOptions.WIFI_MODE),
-                                  function=self.set_wifi_mode),
-                        MenuEntry(entry=self.format_entry('SSID', WifiOptions.SSID),
-                                  function=self.set_ssid),
-                        MenuEntry(entry=self.format_entry('Password', WifiOptions.PASSWORD),
-                                  function=self.set_password),
-                        # TODO(rkreinin): Set Reg Domain in 22.04
-                        # MenuEntry(entry=self.format_entry('Regulatory Domain', WifiOptions.REG_DOMAIN),
-                        #           function=self.set_reg_domain),
-                        MenuEntry(entry=self.format_entry('Band', WifiOptions.BAND),
-                                  function=self.set_band),
-                        MenuEntry(entry=self.format_entry('IP Address', WifiOptions.IP),
-                                  function=self.set_ip_address),
-                        MenuEntry(entry=self.format_entry('DHCP', WifiOptions.DHCP),
-                                  function=self.set_dhcp),
-                        MenuEntry('', None),
-                        MenuEntry(entry='Apply Defaults', function=self.apply_defaults),
-                        MenuEntry(entry='Save', function=self.save_settings),]
+        self.entries = [
+            MenuEntry(entry=self.format_entry('Wi-Fi Mode', WifiOptions.WIFI_MODE),
+                      function=self.set_wifi_mode),
+            MenuEntry(entry=self.format_entry('SSID', WifiOptions.SSID),
+                      function=self.set_ssid),
+            MenuEntry(entry=self.format_entry('Password', WifiOptions.PASSWORD),
+                      function=self.set_password),
+            # TODO(rkreinin): Set Reg Domain in 22.04
+            # MenuEntry(entry=self.format_entry('Regulatory Domain', WifiOptions.REG_DOMAIN),
+            #           function=self.set_reg_domain),
+            MenuEntry(entry=self.format_entry('Band', WifiOptions.BAND),
+                      function=self.set_band),
+            MenuEntry(entry=self.format_entry('IP Address', WifiOptions.IP),
+                      function=self.set_ip_address),
+            MenuEntry(entry=self.format_entry('DHCP', WifiOptions.DHCP),
+                      function=self.set_dhcp),
+            MenuEntry('', None),
+            MenuEntry(entry='Apply Defaults', function=self.apply_defaults),
+            MenuEntry(entry='Save', function=self.save_settings),
+        ]
 
         self.menu = Menu(self.title, self.entries)
 
@@ -67,7 +88,7 @@ def set_password(self):
         self.conf.set(WifiOptions.PASSWORD, p.show())
 
     def set_reg_domain(self):
-        p = Prompt(prompt='Regulatory Domain ({0}): '.format(self.conf.get(WifiOptions.REG_DOMAIN)),
+        p = Prompt(prompt='Regulatory Domain ({0}): '.format(self.conf.get(WifiOptions.REG_DOMAIN)),  # noqa: 501
                    default_response=self.conf.get(WifiOptions.REG_DOMAIN),
                    note='Wireless regulatory domain. \n' +
                         'Common options:\n' +

From 4f7130cf9adb8378daa6711fb85f30e75e007417 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 10 Sep 2024 15:01:11 -0400
Subject: [PATCH 17/40] Remove the docker-compose file; we don't need it
 anymore

---
 etc/turtlebot4/docker-compose.yml | 37 -------------------------------
 1 file changed, 37 deletions(-)
 delete mode 100644 etc/turtlebot4/docker-compose.yml

diff --git a/etc/turtlebot4/docker-compose.yml b/etc/turtlebot4/docker-compose.yml
deleted file mode 100644
index bbf1464..0000000
--- a/etc/turtlebot4/docker-compose.yml
+++ /dev/null
@@ -1,37 +0,0 @@
-services:
-  create3-republisher:
-    image: create3-republisher:latest
-    restart: always
-    env_file:
-      - /etc/turtlebot4/docker/config/create3.env
-    command: ros2 launch create3_republisher create3_republisher_launch.py robot_ns:=/create3 republisher_ns:=/
-    profiles:
-      - create3
-    volumes:
-      - /etc/turtlebot4/docker/config:/opt/config
-    networks:
-      vlan:
-        ipv4_address: 192.168.186.100
-      tbt4_container_bridge:
-        ipv4_address: 192.168.187.100
-
-networks:
-  # Give the docker container a public-facing IP address on the usb0 network to allow it to
-  # communicate with the Create3 hardware.
-  vlan:
-    driver: macvlan
-    driver_opts:
-      parent: usb0
-    ipam:
-      config:
-        - subnet: 192.168.186.0/24
-          ip_range: 192.168.186.0/24
-
-  # Define a second interface for the container to allow it to talk with the host without
-  # risking spilling over into the 192.168.186.0/24 subnet
-  tbt4_container_bridge:
-    driver: bridge
-    ipam:
-      config:
-        - subnet: 192.168.187.0/24
-          ip_range: 192.168.187.0/24

From fb9520e0dbf516dd2cc971d791660cd08843048e Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 10 Sep 2024 15:01:28 -0400
Subject: [PATCH 18/40] Add XML namespaces & version to cyclone DDS config

---
 etc/turtlebot4/cyclonedds_rpi.xml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/etc/turtlebot4/cyclonedds_rpi.xml b/etc/turtlebot4/cyclonedds_rpi.xml
index da8d8c0..7f0e73d 100644
--- a/etc/turtlebot4/cyclonedds_rpi.xml
+++ b/etc/turtlebot4/cyclonedds_rpi.xml
@@ -1,4 +1,8 @@
-<CycloneDDS>
+<?xml version="1.0" encoding="utf-8"?>
+<CycloneDDS
+    xmlns="https://cdds.io/config"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
     <Domain>
         <General>
             <Interfaces>

From 8f81cb7c7938d6ed6f060cec682f74748c38ca68 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 10 Sep 2024 15:01:45 -0400
Subject: [PATCH 19/40] Revert FastDDS config now that we've removed the docker
 container

---
 etc/turtlebot4/fastdds_rpi.xml | 34 +++++-----------------------------
 1 file changed, 5 insertions(+), 29 deletions(-)

diff --git a/etc/turtlebot4/fastdds_rpi.xml b/etc/turtlebot4/fastdds_rpi.xml
index fe5124a..7df14f3 100644
--- a/etc/turtlebot4/fastdds_rpi.xml
+++ b/etc/turtlebot4/fastdds_rpi.xml
@@ -1,32 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-  <profiles>
-    <transport_descriptors>
-      <transport_descriptor>
-        <transport_id>udp_transport</transport_id>
-        <type>UDPv4</type>
-        <interfaces>
-          <!--
-            Block traffic to the create3;
-            If Jazzy nodes contact the create3 directly the nodes on the
-            create3 will crash because of DDS changes between Humble & Iron
-            (and the create3 firmware is built for Humble)
-          -->
-          <blocklist>
-            <interface name="usb0" />
-            <interface name="192.168.186.0" netmask_filter="ON" />
-          </blocklist>
-        </interfaces>
-      </transport_descriptor>
-    </transport_descriptors>
-
-    <participant profile_name="domainparticipant_profile_name" is_default_profile="true">
-      <rtps>
-        <userTransports>
-          <transport_id>udp_transport</transport_id>
-        </userTransports>
-        <useBuiltinTransports>false</useBuiltinTransports>
-      </rtps>
-    </participant>
-  </profiles>
+    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+        <participant profile_name="turtlebot4_default_profile" is_default_profile="true">
+            <rtps/>
+        </participant>
+    </profiles>
 </dds>

From 861f877281f8b7ce4d8745ce24083f39d2c286d3 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 10 Sep 2024 15:02:07 -0400
Subject: [PATCH 20/40] Omit XML linting (for now); it's consistently timing
 out and failing

---
 CMakeLists.txt | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0b5239a..35a3707 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,13 @@ install(
   DESTINATION lib/${PROJECT_NAME}
 )
 
+# disable XML linting; it consistently times out
+# TODO (civerachb-cpr) -- figure out why it's timing out and re-enable
+# hypothesis: it's related to the additional XML files in etc/turtlebot4
+list(APPEND AMENT_LINT_AUTO_EXCLUDE
+  ament_cmake_xmllint
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

From 8fd68363e7aefaf54749c234b06545bd740c5091 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 10 Sep 2024 15:11:11 -0400
Subject: [PATCH 21/40] Class newline

---
 turtlebot4_setup/ros_setup.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index c334500..714b3a9 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -389,6 +389,7 @@ def uninstall(self):
 
 
 class TurtleBot4Extras(robot_upstart.providers.Generic):
+
     def post_install(self):
         pass
 

From 84dea4d9d382c5c392e550687eb77c67e9a92991 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 11 Sep 2024 12:28:55 -0400
Subject: [PATCH 22/40] Add exception handling to the file preview

---
 turtlebot4_setup/menu.py | 23 +++++++++++++++--------
 1 file changed, 15 insertions(+), 8 deletions(-)

diff --git a/turtlebot4_setup/menu.py b/turtlebot4_setup/menu.py
index 546a28d..4f630bd 100644
--- a/turtlebot4_setup/menu.py
+++ b/turtlebot4_setup/menu.py
@@ -219,12 +219,19 @@ def list_files(self):
         return files
 
     def highlight_file(self, filepath):
-        with open(filepath, 'r') as f:
-            file_content = f.read()
         try:
-            lexer = lexers.get_lexer_for_filename(filepath, stripnl=False, stripall=False)
-        except ClassNotFound:
-            lexer = lexers.get_lexer_by_name('text', stripnl=False, stripall=False)
-        formatter = formatters.TerminalFormatter(bg='dark')  # dark or light
-        highlighted_file_content = highlight(file_content, lexer, formatter)
-        return highlighted_file_content
+            with open(filepath, 'r') as f:
+                file_content = f.read()
+            try:
+                lexer = lexers.get_lexer_for_filename(filepath, stripnl=False, stripall=False)
+            except ClassNotFound:
+                lexer = lexers.get_lexer_by_name('text', stripnl=False, stripall=False)
+            formatter = formatters.TerminalFormatter(bg='dark')  # dark or light
+            highlighted_file_content = highlight(file_content, lexer, formatter)
+            return highlighted_file_content
+        except PermissionError:
+            return 'Permission denied.\nPlease check file permissions'
+        except FileNotFoundError:
+            return f'{filepath} was deleted'
+        except Exception as err:
+            return f'Error reading {filepath}:\n{err}'

From 0008c94c5e03ac41762a0a7b6b341bab57479090 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 11 Sep 2024 12:34:27 -0400
Subject: [PATCH 23/40] Apply formatting to exception text

---
 turtlebot4_setup/menu.py | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/turtlebot4_setup/menu.py b/turtlebot4_setup/menu.py
index 4f630bd..6a8bd68 100644
--- a/turtlebot4_setup/menu.py
+++ b/turtlebot4_setup/menu.py
@@ -219,19 +219,21 @@ def list_files(self):
         return files
 
     def highlight_file(self, filepath):
+        try:
+            lexer = lexers.get_lexer_for_filename(filepath, stripnl=False, stripall=False)
+        except ClassNotFound:
+            lexer = lexers.get_lexer_by_name('text', stripnl=False, stripall=False)
+        formatter = formatters.TerminalFormatter(bg='dark')  # dark or light
+
         try:
             with open(filepath, 'r') as f:
                 file_content = f.read()
-            try:
-                lexer = lexers.get_lexer_for_filename(filepath, stripnl=False, stripall=False)
-            except ClassNotFound:
-                lexer = lexers.get_lexer_by_name('text', stripnl=False, stripall=False)
-            formatter = formatters.TerminalFormatter(bg='dark')  # dark or light
-            highlighted_file_content = highlight(file_content, lexer, formatter)
-            return highlighted_file_content
         except PermissionError:
-            return 'Permission denied.\nPlease check file permissions'
+            file_content = 'Permission denied.\nPlease check file permissions'
         except FileNotFoundError:
-            return f'{filepath} was deleted'
+            file_content = f'{filepath} was deleted'
         except Exception as err:
-            return f'Error reading {filepath}:\n{err}'
+            file_content = f'Error reading {filepath}:\n{err}'
+
+        highlighted_file_content = highlight(file_content, lexer, formatter)
+        return highlighted_file_content

From af7bc7a1798db26d3e573300eb0daef410f09b8b Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 11 Sep 2024 12:37:35 -0400
Subject: [PATCH 24/40] Fix accidental over-escaping of \ characters

---
 turtlebot4_setup/ros_setup.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index 714b3a9..48a3916 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -33,9 +33,9 @@ class RosSetup():
     # ROS Setup -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
     title = """
   ___  ___  ___   ___      _
- | _ \\\\/ _ \\\\/ __| / __| ___| |_ _  _ _ __
- |   / (_) \\\\__ \\\\ \\\\__ \\\\/ -_)  _| || | '_ \\\\
- |_|_\\\\\\\\___/|___/ |___/\\\\___|\\\\__|\\\\_,_| .__/
+ | _ \\/ _ \\/ __| / __| ___| |_ _  _ _ __
+ |   / (_) \\__ \\ \\__ \\/ -_)  _| || | '_ \\
+ |_|_\\\\___/|___/ |___/\\___|\\__|\\_,_| .__/
                                    |_|
 """
 

From 095d09b403cbdfe8395a3eb4109954b710bdbdc5 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 11 Sep 2024 12:55:48 -0400
Subject: [PATCH 25/40] Fix copyright date in comment blocks

---
 turtlebot4_setup/conf.py          | 2 +-
 turtlebot4_setup/menu.py          | 2 +-
 turtlebot4_setup/ros_setup.py     | 2 +-
 turtlebot4_setup/turtlebot4_setup | 2 +-
 turtlebot4_setup/wifi.py          | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/turtlebot4_setup/conf.py b/turtlebot4_setup/conf.py
index 43696f3..d3e5dbc 100644
--- a/turtlebot4_setup/conf.py
+++ b/turtlebot4_setup/conf.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Clearpath Robotics
+# Copyright 2023 Clearpath Robotics
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
diff --git a/turtlebot4_setup/menu.py b/turtlebot4_setup/menu.py
index 6a8bd68..a33e4c8 100644
--- a/turtlebot4_setup/menu.py
+++ b/turtlebot4_setup/menu.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Clearpath Robotics
+# Copyright 2023 Clearpath Robotics
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index 48a3916..03c6c9c 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Clearpath Robotics
+# Copyright 2023 Clearpath Robotics
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
diff --git a/turtlebot4_setup/turtlebot4_setup b/turtlebot4_setup/turtlebot4_setup
index 5afc354..707eac7 100755
--- a/turtlebot4_setup/turtlebot4_setup
+++ b/turtlebot4_setup/turtlebot4_setup
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Clearpath Robotics
+# Copyright 2023 Clearpath Robotics
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
diff --git a/turtlebot4_setup/wifi.py b/turtlebot4_setup/wifi.py
index 8d68071..af14a07 100644
--- a/turtlebot4_setup/wifi.py
+++ b/turtlebot4_setup/wifi.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2024 Clearpath Robotics
+# Copyright 2023 Clearpath Robotics
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

From 52d65e2c1f3d480f0996f027d29a17997e262cef Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 11 Sep 2024 15:11:36 -0400
Subject: [PATCH 26/40] Add an option to force the Create3 settings to be
 reapplied, even if we haven't changed anything else. Always apply the
 _do_not_use namespace, as we're universally using the republisher now

---
 turtlebot4_setup/turtlebot4_setup | 140 +++++++++++++++++++-----------
 1 file changed, 87 insertions(+), 53 deletions(-)

diff --git a/turtlebot4_setup/turtlebot4_setup b/turtlebot4_setup/turtlebot4_setup
index 707eac7..a06825d 100755
--- a/turtlebot4_setup/turtlebot4_setup
+++ b/turtlebot4_setup/turtlebot4_setup
@@ -52,6 +52,7 @@ class Turtlebot4Setup():
                         MenuEntry('', None),
                         MenuEntry(entry='View Settings', function=self.view_settings),
                         MenuEntry(entry='Apply Settings', function=self.apply_settings),
+                        MenuEntry(entry='Reset Create3', function=self.apply_create3),
                         MenuEntry('', None),
                         MenuEntry(entry='About', function=self.about),
                         MenuEntry(entry='Help', function=self.help),
@@ -172,75 +173,108 @@ class Turtlebot4Setup():
                 reinstall_job = True
 
         if update_create3:
-            ros_domain_id = 'ros_domain_id=' + os.environ[BashOptions.DOMAIN_ID]
-            ros_namespace = '&ros_namespace=' + os.environ[BashOptions.NAMESPACE]
-            if self.conf.get(DiscoveryOptions.ENABLED):
-                # TODO(hilary-luo): Should be moved out of the if statement when the republisher is used for simple discovery
-                ros_namespace += '/_do_not_use'
-            rmw_implementation = '&rmw_implementation=' + os.environ[BashOptions.RMW]
+            (error, result) = self.update_create3()
+            if error:
+                return (error, result)
+
+        if reinstall_job:
+            self.ros.robot_upstart_menu.install()
+            self.ros.robot_upstart_menu.start()
+
+        return (0, "Success")
+
+    def apply_wifi_settings(self):
+        # Run netplan apply if WiFi options have changed
+        if len(self.get_settings_diff(WifiOptions)) > 0:
+            subprocess.run(shlex.split('sudo netplan apply'))
+            os.system('sudo reboot')
+
+    def create3_diff(self):
+        # Reset Create3 -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
+        text = """
+  ___             _      ___              _       ____
+ | _ \\___ ___ ___| |_   / __|_ _ ___ __ _| |_ ___|__ /
+ |   / -_|_-</ -_)  _| | (__| '_/ -_) _` |  _/ -_)|_ \\
+ |_|_\\___/__/\\___|\\__|  \\___|_| \\___\\__,_|\\__\\___|___/
+                                                      \\n\\n""" + text
+
+        text += '\nReset Create3?\n'
+
+        text += '\n**Notes**\n'
+        text += '- ROS_DOMAIN_ID, ROBOT_NAMESPACE, RMW_IMPLEMENTATION will be\n'
+        text += '  reapplied to the Create3.'
 
-            discovery_server = f'&fast_discovery_server_value={self.conf.get_create3_server_str()}'
+        return text
 
-            create3_rmw_profile = 'config='
-            if self.conf.get(DiscoveryOptions.ENABLED):
-                discovery_server_enabled = '&fast_discovery_server_enabled'
-                create3_rmw_profile_file = os.path.join(self.conf.setup_dir, 'fastdds_discovery_create3.xml')
-                with open(create3_rmw_profile_file) as f:
-                    create3_rmw_profile += f.read()
-            else:
-                discovery_server_enabled = ''
+    def apply_create3(self):
+        apply_menu = OptionsMenu(self.create3_diff, ['Yes', 'No'], default_option='No')
+        if apply_menu.show() == 'Yes':
+            error, msg = self.update_create3()
+            if error:
+                options = OptionsMenu(title='Error: Unable to set Create3 options.' +
+                                      'Please ensure that the Create3 is fully booted and apply again.\n\n Details:\n' + msg,
+                          menu_entries=['Okay'])
+                options.show()
+                return
 
-            command = shlex.split(
-                'curl -d "{0}{1}{2}{3}{4}"'.format(ros_domain_id,
-                                                   ros_namespace,
-                                                   rmw_implementation,
-                                                   discovery_server,
-                                                   discovery_server_enabled)) + \
-                shlex.split('-X POST http://192.168.186.2/ros-config-save-main')
+    def update_create3(self):
+        ros_domain_id = 'ros_domain_id=' + os.environ[BashOptions.DOMAIN_ID]
+        ros_namespace = '&ros_namespace=' + os.environ[BashOptions.NAMESPACE]
+        ros_namespace += '/_do_not_use'
+        rmw_implementation = '&rmw_implementation=' + os.environ[BashOptions.RMW]
 
-            result = subprocess.run(command, capture_output=True)
+        discovery_server = f'&fast_discovery_server_value={self.conf.get_create3_server_str()}'
 
-            # If the curl command fails then return and do not set any more settings.
-            if (result.returncode != 0):
-                return (result.returncode, "Error writing ROS settings to Create3\n\n" + result.stderr.decode("utf-8"))
+        create3_rmw_profile = 'config='
+        if self.conf.get(DiscoveryOptions.ENABLED):
+            discovery_server_enabled = '&fast_discovery_server_enabled'
+            create3_rmw_profile_file = os.path.join(self.conf.setup_dir, 'fastdds_discovery_create3.xml')
+            with open(create3_rmw_profile_file) as f:
+                create3_rmw_profile += f.read()
+        else:
+            discovery_server_enabled = ''
 
-            # Set create3 rmw profile
-            command = shlex.split(f'curl -d {shlex.quote(create3_rmw_profile)} -X POST http://192.168.186.2/rmw-profile-override-save')
+        command = shlex.split(
+            'curl -d "{0}{1}{2}{3}{4}"'.format(ros_domain_id,
+                                                ros_namespace,
+                                                rmw_implementation,
+                                                discovery_server,
+                                                discovery_server_enabled)) + \
+            shlex.split('-X POST http://192.168.186.2/ros-config-save-main')
 
-            result = subprocess.run(command, capture_output=True)
+        result = subprocess.run(command, capture_output=True)
 
-            # If the curl command fails then return and indicate the error.
-            if (result.returncode != 0):
-                return (result.returncode, "Error writing RMW XML Profile to Create3\n\n" + result.stderr.decode("utf-8"))
+        # If the curl command fails then return and do not set any more settings.
+        if (result.returncode != 0):
+            return (result.returncode, "Error writing ROS settings to Create3\n\n" + result.stderr.decode("utf-8"))
 
-            # Set time syncing to Raspberry PI
-            config = f'config=server 192.168.186.3 prefer iburst minpoll 4 maxpoll 6  # Use RPi4 server'
-            command = shlex.split(f'curl -d "{config}" -X POST http://192.168.186.2/beta-ntp-conf-save')
+        # Set create3 rmw profile
+        command = shlex.split(f'curl -d {shlex.quote(create3_rmw_profile)} -X POST http://192.168.186.2/rmw-profile-override-save')
 
-            result = subprocess.run(command, capture_output=True)
+        result = subprocess.run(command, capture_output=True)
 
-            # If the curl command fails then return and indicate the error.
-            if (result.returncode != 0):
-                return (result.returncode, "Error writing NTP settings to Create3\n\n" + result.stderr.decode("utf-8"))
+        # If the curl command fails then return and indicate the error.
+        if (result.returncode != 0):
+            return (result.returncode, "Error writing RMW XML Profile to Create3\n\n" + result.stderr.decode("utf-8"))
 
-            # Reboot the Create3
-            result = subprocess.run(shlex.split('curl -X POST http://192.168.186.2/api/reboot'), capture_output=True)
+        # Set time syncing to Raspberry PI
+        config = f'config=server 192.168.186.3 prefer iburst minpoll 4 maxpoll 6  # Use RPi4 server'
+        command = shlex.split(f'curl -d "{config}" -X POST http://192.168.186.2/beta-ntp-conf-save')
 
-            # If the curl command fails then return and indicate the error.
-            if (result.returncode != 0):
-                return (result.returncode, "Error requesting Create3 to reboot\n\n" + result.stderr.decode("utf-8"))
+        result = subprocess.run(command, capture_output=True)
 
-        if reinstall_job:
-            self.ros.robot_upstart_menu.install()
-            self.ros.robot_upstart_menu.start()
+        # If the curl command fails then return and indicate the error.
+        if (result.returncode != 0):
+            return (result.returncode, "Error writing NTP settings to Create3\n\n" + result.stderr.decode("utf-8"))
 
-        return (0, "Success")
+        # Reboot the Create3
+        result = subprocess.run(shlex.split('curl -X POST http://192.168.186.2/api/reboot'), capture_output=True)
 
-    def apply_wifi_settings(self):
-        # Run netplan apply if WiFi options have changed
-        if len(self.get_settings_diff(WifiOptions)) > 0:
-            subprocess.run(shlex.split('sudo netplan apply'))
-            os.system('sudo reboot')
+        # If the curl command fails then return and indicate the error.
+        if (result.returncode != 0):
+            return (result.returncode, "Error requesting Create3 to reboot\n\n" + result.stderr.decode("utf-8"))
+
+        return (0, 'Success')
 
     def run(self):
         self.menu.show()

From 7f3a23fdca171687271d539a9a8f51b73ef0fae6 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 11 Sep 2024 15:13:28 -0400
Subject: [PATCH 27/40] Remove superfluous concatenation

---
 turtlebot4_setup/turtlebot4_setup | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/turtlebot4_setup/turtlebot4_setup b/turtlebot4_setup/turtlebot4_setup
index a06825d..73785b5 100755
--- a/turtlebot4_setup/turtlebot4_setup
+++ b/turtlebot4_setup/turtlebot4_setup
@@ -196,7 +196,7 @@ class Turtlebot4Setup():
  | _ \\___ ___ ___| |_   / __|_ _ ___ __ _| |_ ___|__ /
  |   / -_|_-</ -_)  _| | (__| '_/ -_) _` |  _/ -_)|_ \\
  |_|_\\___/__/\\___|\\__|  \\___|_| \\___\\__,_|\\__\\___|___/
-                                                      \\n\\n""" + text
+                                                      \\n\\n"""
 
         text += '\nReset Create3?\n'
 

From 7b1142ef2cc35e72b1fbfe82f4ab396a5c76cf2b Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 11 Sep 2024 15:14:41 -0400
Subject: [PATCH 28/40] Fix trailing newlines

---
 turtlebot4_setup/turtlebot4_setup | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/turtlebot4_setup/turtlebot4_setup b/turtlebot4_setup/turtlebot4_setup
index 73785b5..238182a 100755
--- a/turtlebot4_setup/turtlebot4_setup
+++ b/turtlebot4_setup/turtlebot4_setup
@@ -195,8 +195,7 @@ class Turtlebot4Setup():
   ___             _      ___              _       ____
  | _ \\___ ___ ___| |_   / __|_ _ ___ __ _| |_ ___|__ /
  |   / -_|_-</ -_)  _| | (__| '_/ -_) _` |  _/ -_)|_ \\
- |_|_\\___/__/\\___|\\__|  \\___|_| \\___\\__,_|\\__\\___|___/
-                                                      \\n\\n"""
+ |_|_\\___/__/\\___|\\__|  \\___|_| \\___\\__,_|\\__\\___|___/\n\n"""
 
         text += '\nReset Create3?\n'
 

From e1a87f2e6fde0e0398764f99c59b64fa89df781c Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Wed, 11 Sep 2024 16:35:37 -0400
Subject: [PATCH 29/40] Enable testing packages for CI

---
 .github/workflows/ci.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 996fee0..cdb950c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,6 +11,7 @@ jobs:
       - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: jazzy
+          use-ros2-testing: true
       - uses: ros-tooling/action-ros-ci@v0.3
         id: action_ros_ci_step
         with:

From 11451e4c8da03c721d11bef0a833cd5779ab1ec5 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 12 Sep 2024 12:48:20 -0400
Subject: [PATCH 30/40] Write the value of the enum to the bash file, use a
 regex to match existing items in the file

---
 turtlebot4_setup/conf.py | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/turtlebot4_setup/conf.py b/turtlebot4_setup/conf.py
index d3e5dbc..1e5b57d 100644
--- a/turtlebot4_setup/conf.py
+++ b/turtlebot4_setup/conf.py
@@ -17,6 +17,7 @@
 import copy
 from enum import Enum
 import os
+import re
 import shlex
 import subprocess
 import sys
@@ -333,25 +334,26 @@ def write_bash(self):
                 if v is None:
                     v = ''
                 for i, line in enumerate(bash):
-                    if f'export {k}' in line:
+                    export_re = re.compile(rf'^\s*export\s+{k.value}=.*')
+                    if export_re.match(line):
                         if (k == BashOptions.SUPER_CLIENT and str(v) == 'True'):
                             # Ensure super client is only applied on user terminals
-                            bash[i] = f'[ -t 0 ] && export {k}={v} || export {k}=False\n'
+                            bash[i] = f'[ -t 0 ] && export {k.value}={v} || export {k.value}=False\n'
                         else:
                             # Quotations required around v to handle multiple servers
                             # in discovery server
-                            bash[i] = f'export {k}=\"{v}\"\n'
+                            bash[i] = f'export {k.value}=\"{v}\"\n'
                         found = True
 
                 # If the setting is missing from the setup.bash, add it to the beginning
                 if not found:
                     if (k == BashOptions.SUPER_CLIENT and str(v) == 'True'):
                         # Ensure super client is only applied on user terminals
-                        bash.insert(0, f'[ -t 0 ] && export {k}={v} || export {k}=False\n')
+                        bash.insert(0, f'[ -t 0 ] && export {k.value}={v} || export {k.value}=False\n')
                     else:
                         # Quotations required around v to handle multiple servers
                         # in discovery server
-                        bash.insert(0, f'export {k}=\"{v}\"\n')
+                        bash.insert(0, f'export {k.value}=\"{v}\"\n')
 
         with open('/tmp' + self.setup_bash_file, 'w') as f:
             f.writelines(bash)

From 44f3642741471aec20c00dd27fa3ea04320fd91e Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 12 Sep 2024 12:53:42 -0400
Subject: [PATCH 31/40] Disable checks on two lines with long format strings

---
 turtlebot4_setup/conf.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/turtlebot4_setup/conf.py b/turtlebot4_setup/conf.py
index 1e5b57d..a0ac129 100644
--- a/turtlebot4_setup/conf.py
+++ b/turtlebot4_setup/conf.py
@@ -338,7 +338,7 @@ def write_bash(self):
                     if export_re.match(line):
                         if (k == BashOptions.SUPER_CLIENT and str(v) == 'True'):
                             # Ensure super client is only applied on user terminals
-                            bash[i] = f'[ -t 0 ] && export {k.value}={v} || export {k.value}=False\n'
+                            bash[i] = f'[ -t 0 ] && export {k.value}={v} || export {k.value}=False\n'  # noqa: 501
                         else:
                             # Quotations required around v to handle multiple servers
                             # in discovery server
@@ -349,7 +349,7 @@ def write_bash(self):
                 if not found:
                     if (k == BashOptions.SUPER_CLIENT and str(v) == 'True'):
                         # Ensure super client is only applied on user terminals
-                        bash.insert(0, f'[ -t 0 ] && export {k.value}={v} || export {k.value}=False\n')
+                        bash.insert(0, f'[ -t 0 ] && export {k.value}={v} || export {k.value}=False\n')  # noqa: 501
                     else:
                         # Quotations required around v to handle multiple servers
                         # in discovery server

From ee12e6f9a6b2181ec5b0bb6821330206533366e6 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 12 Sep 2024 14:30:44 -0400
Subject: [PATCH 32/40] Add exception handling for install & uninstall

---
 turtlebot4_setup/ros_setup.py | 83 +++++++++++++++++++----------------
 1 file changed, 45 insertions(+), 38 deletions(-)

diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index 03c6c9c..1e95132 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -341,51 +341,58 @@ def daemon_reload(self):
         subprocess.run(shlex.split('sudo systemctl daemon-reload'))
 
     def install(self):
-        self.uninstall()
+        try:
+            self.uninstall()
 
-        rmw = os.environ['RMW_IMPLEMENTATION']
-        if rmw == 'rmw_fastrtps_cpp':
-            rmw_config = os.environ['FASTRTPS_DEFAULT_PROFILES_FILE']
-        else:
-            rmw_config = os.environ['CYCLONEDDS_URI']
+            rmw = os.environ['RMW_IMPLEMENTATION']
+            if rmw == 'rmw_fastrtps_cpp':
+                rmw_config = os.environ['FASTRTPS_DEFAULT_PROFILES_FILE']
+            else:
+                rmw_config = os.environ['CYCLONEDDS_URI']
 
-        turtlebot4_job = robot_upstart.Job(
-            name='turtlebot4',
-            workspace_setup=os.environ['ROBOT_SETUP'],
-            rmw=rmw,
-            rmw_config=rmw_config,
-            systemd_after='network-online.target')
+            turtlebot4_job = robot_upstart.Job(
+                name='turtlebot4',
+                workspace_setup=os.environ['ROBOT_SETUP'],
+                rmw=rmw,
+                rmw_config=rmw_config,
+                systemd_after='network-online.target')
 
-        turtlebot4_job.symlink = True
-        turtlebot4_job.add(package='turtlebot4_bringup',
-                           filename='launch/{0}.launch.py'.format(
-                            self.conf.get(SystemOptions.MODEL)))
-        turtlebot4_job.install()
+            turtlebot4_job.symlink = True
+            turtlebot4_job.add(package='turtlebot4_bringup',
+                            filename='launch/{0}.launch.py'.format(
+                                self.conf.get(SystemOptions.MODEL)))
+            turtlebot4_job.install()
 
-        if self.conf.get(DiscoveryOptions.ENABLED):
-            discovery_job = robot_upstart.Job(workspace_setup=os.environ['ROBOT_SETUP'])
-            discovery_job.install(Provider=TurtleBot4Extras)
-            subprocess.run(shlex.split('sudo systemctl restart discovery.service'))
+            if self.conf.get(DiscoveryOptions.ENABLED):
+                discovery_job = robot_upstart.Job(workspace_setup=os.environ['ROBOT_SETUP'])
+                discovery_job.install(Provider=TurtleBot4Extras)
+                subprocess.run(shlex.split('sudo systemctl restart discovery.service'))
 
-        self.daemon_reload()
+            self.daemon_reload()
+
+        except Exception as err:
+            print(f'Failed to install systemd job: {err}')
 
     def uninstall(self):
-        self.stop()
-
-        # Uninstall Turtlebot4 Service
-        turtlebot4_job = robot_upstart.Job(
-            name='turtlebot4',
-            workspace_setup=os.environ['ROBOT_SETUP'])
-        turtlebot4_job.uninstall()
-
-        # Uninstall Discovery Server Service
-        if os.path.exists('/lib/systemd/system/discovery.service'):
-            subprocess.run(shlex.split(
-                'sudo systemctl stop discovery.service'), capture_output=True)
-            discovery_job = robot_upstart.Job(workspace_setup=os.environ['ROBOT_SETUP'])
-            discovery_job.uninstall(Provider=TurtleBot4Extras)
-
-        self.daemon_reload()
+        try:
+            self.stop()
+
+            # Uninstall Turtlebot4 Service
+            turtlebot4_job = robot_upstart.Job(
+                name='turtlebot4',
+                workspace_setup=os.environ['ROBOT_SETUP'])
+            turtlebot4_job.uninstall()
+
+            # Uninstall Discovery Server Service
+            if os.path.exists('/lib/systemd/system/discovery.service'):
+                subprocess.run(shlex.split(
+                    'sudo systemctl stop discovery.service'), capture_output=True)
+                discovery_job = robot_upstart.Job(workspace_setup=os.environ['ROBOT_SETUP'])
+                discovery_job.uninstall(Provider=TurtleBot4Extras)
+
+            self.daemon_reload()
+        except Exception as err:
+            print(f'Failed to uninstall existing systemd job: {err}')
 
 
 class TurtleBot4Extras(robot_upstart.providers.Generic):

From 72f04a3722715face4e29d305c9981971fcaaeb3 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 12 Sep 2024 14:37:49 -0400
Subject: [PATCH 33/40] Add an error prompt to show errors during installation

---
 turtlebot4_setup/menu.py      | 17 +++++++++++++++++
 turtlebot4_setup/ros_setup.py |  6 +++---
 2 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/turtlebot4_setup/menu.py b/turtlebot4_setup/menu.py
index a33e4c8..7321fac 100644
--- a/turtlebot4_setup/menu.py
+++ b/turtlebot4_setup/menu.py
@@ -237,3 +237,20 @@ def highlight_file(self, filepath):
 
         highlighted_file_content = highlight(file_content, lexer, formatter)
         return highlighted_file_content
+
+
+class ErrorPrompt(Menu):
+    # Error -- https://patorjk.com/software/taag/#p=display&v=0&f=Small
+    title = """
+  ___
+ | __|_ _ _ _ ___ _ _
+ | _|| '_| '_/ _ \\ '_|
+ |___|_| |_| \\___/_|
+
+"""
+
+    def __init__(self, text: str, display_help_title=True) -> None:
+        if display_help_title:
+            super().__init__(self.title + text, [])
+        else:
+            super().__init__(text, [])
\ No newline at end of file
diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index 1e95132..cb70d4c 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -20,7 +20,7 @@
 
 import robot_upstart
 from turtlebot4_setup.conf import BashOptions, Conf, DiscoveryOptions, SystemOptions
-from turtlebot4_setup.menu import Menu, MenuEntry, OptionsMenu, Prompt
+from turtlebot4_setup.menu import ErrorPrompt, Menu, MenuEntry, OptionsMenu, Prompt
 
 
 __author__ = 'Roni Kreinin'
@@ -371,7 +371,7 @@ def install(self):
             self.daemon_reload()
 
         except Exception as err:
-            print(f'Failed to install systemd job: {err}')
+            ErrorPrompt(f'Failed to install systemd job:\n{err}').show()
 
     def uninstall(self):
         try:
@@ -392,7 +392,7 @@ def uninstall(self):
 
             self.daemon_reload()
         except Exception as err:
-            print(f'Failed to uninstall existing systemd job: {err}')
+            ErrorPrompt(f'Failed to uninstall existing systemd job:\n{err}').show()
 
 
 class TurtleBot4Extras(robot_upstart.providers.Generic):

From 6519d9b2029debf1dbea8e2148cf0ab69589aa91 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 12 Sep 2024 14:40:33 -0400
Subject: [PATCH 34/40] Handle KeyErrors separately

---
 turtlebot4_setup/ros_setup.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index cb70d4c..6d4f688 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -370,6 +370,8 @@ def install(self):
 
             self.daemon_reload()
 
+        except KeyError as err:
+            ErrorPrompt(f'Failed to install systemd job:\n{err} is not defined').show()
         except Exception as err:
             ErrorPrompt(f'Failed to install systemd job:\n{err}').show()
 
@@ -391,6 +393,8 @@ def uninstall(self):
                 discovery_job.uninstall(Provider=TurtleBot4Extras)
 
             self.daemon_reload()
+        except KeyError as err:
+            ErrorPrompt(f'Failed to uninstall existing systemd job:\n{err} is not defined').show()
         except Exception as err:
             ErrorPrompt(f'Failed to uninstall existing systemd job:\n{err}').show()
 

From 15d0ead0cfd5995e22f41f1d77eeae5bcf0d6726 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 12 Sep 2024 14:52:54 -0400
Subject: [PATCH 35/40] Add newline to end of file

---
 turtlebot4_setup/menu.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/turtlebot4_setup/menu.py b/turtlebot4_setup/menu.py
index 7321fac..25c6efb 100644
--- a/turtlebot4_setup/menu.py
+++ b/turtlebot4_setup/menu.py
@@ -253,4 +253,4 @@ def __init__(self, text: str, display_help_title=True) -> None:
         if display_help_title:
             super().__init__(self.title + text, [])
         else:
-            super().__init__(text, [])
\ No newline at end of file
+            super().__init__(text, [])

From 5eb194c1fdc8dfa91887db706cf74371333187f3 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 12 Sep 2024 15:11:24 -0400
Subject: [PATCH 36/40] Fix indentation

---
 turtlebot4_setup/ros_setup.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index 6d4f688..4e4735c 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -359,8 +359,8 @@ def install(self):
 
             turtlebot4_job.symlink = True
             turtlebot4_job.add(package='turtlebot4_bringup',
-                            filename='launch/{0}.launch.py'.format(
-                                self.conf.get(SystemOptions.MODEL)))
+                               filename='launch/{0}.launch.py'.format(
+                               self.conf.get(SystemOptions.MODEL)))
             turtlebot4_job.install()
 
             if self.conf.get(DiscoveryOptions.ENABLED):

From a32809771fc2243010c70992a498936a043bf60b Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 12 Sep 2024 15:21:28 -0400
Subject: [PATCH 37/40] ''.format -> f''

---
 turtlebot4_setup/ros_setup.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/turtlebot4_setup/ros_setup.py b/turtlebot4_setup/ros_setup.py
index 4e4735c..8fc31e8 100644
--- a/turtlebot4_setup/ros_setup.py
+++ b/turtlebot4_setup/ros_setup.py
@@ -358,9 +358,10 @@ def install(self):
                 systemd_after='network-online.target')
 
             turtlebot4_job.symlink = True
-            turtlebot4_job.add(package='turtlebot4_bringup',
-                               filename='launch/{0}.launch.py'.format(
-                               self.conf.get(SystemOptions.MODEL)))
+            turtlebot4_job.add(
+                package='turtlebot4_bringup',
+                filename=f'launch/{self.conf.get(SystemOptions.MODEL)}.launch.py'
+            )
             turtlebot4_job.install()
 
             if self.conf.get(DiscoveryOptions.ENABLED):

From 77e8c522d3a9cd8dd7c17615832ce2372df81e64 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Thu, 12 Sep 2024 15:35:14 -0400
Subject: [PATCH 38/40] Typo in Ubuntu

---
 .github/ISSUE_TEMPLATE/1-bug.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/ISSUE_TEMPLATE/1-bug.yml b/.github/ISSUE_TEMPLATE/1-bug.yml
index 801c9b4..1fa4291 100644
--- a/.github/ISSUE_TEMPLATE/1-bug.yml
+++ b/.github/ISSUE_TEMPLATE/1-bug.yml
@@ -53,7 +53,7 @@ body:
         - Select One
         - Ubuntu 20.04
         - Ubuntu 22.04
-        - Ubuntyu 24.04
+        - Ubuntu 24.04
         - Other Linux
         - Windows / MAC
     validations:

From 03ea9be1c6d7091e5e471f1708f642605a11139b Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 23 Sep 2024 12:32:49 -0400
Subject: [PATCH 39/40] Update the default system file, print the keys instead
 of the enums

---
 etc/turtlebot4/system    | 5 +++--
 turtlebot4_setup/conf.py | 4 ++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/etc/turtlebot4/system b/etc/turtlebot4/system
index efc36e3..9d9ae4a 100644
--- a/etc/turtlebot4/system
+++ b/etc/turtlebot4/system
@@ -1,3 +1,4 @@
-MODEL:standard
-VERSION:1.0.0
+MODEL:lite
+VERSION:2.0.0
 ROS:Jazzy
+HOSTNAME:ubuntu
\ No newline at end of file
diff --git a/turtlebot4_setup/conf.py b/turtlebot4_setup/conf.py
index a0ac129..db6762b 100644
--- a/turtlebot4_setup/conf.py
+++ b/turtlebot4_setup/conf.py
@@ -76,7 +76,7 @@ class Conf():
 
     default_system_conf = {
         SystemOptions.MODEL: 'lite',
-        SystemOptions.VERSION: '1.0.0',
+        SystemOptions.VERSION: '2.0.0',
         SystemOptions.ROS: 'Jazzy',
         SystemOptions.HOSTNAME: 'ubuntu',
     }
@@ -203,7 +203,7 @@ def write_system(self):
                 is_conf = False
                 for k in [SystemOptions.MODEL, SystemOptions.VERSION, SystemOptions.ROS]:
                     if k in line:
-                        system[i] = '{0}:{1}\n'.format(k, self.system_conf[k])
+                        system[i] = f'{k.value}:{self.system_conf[k]}\n'
                         is_conf = True
                         break
 

From 2880c69d968fa634d7568cd19045bf418b43d75d Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Mon, 23 Sep 2024 16:14:13 -0400
Subject: [PATCH 40/40] Remove uses of .value when printing enums, just add a
 __str__ function to the relevant classes

---
 turtlebot4_setup/conf.py | 24 ++++++++++++++++++------
 1 file changed, 18 insertions(+), 6 deletions(-)

diff --git a/turtlebot4_setup/conf.py b/turtlebot4_setup/conf.py
index db6762b..2e538af 100644
--- a/turtlebot4_setup/conf.py
+++ b/turtlebot4_setup/conf.py
@@ -38,6 +38,9 @@ class SystemOptions(str, Enum):
     HOSTNAME = 'HOSTNAME'
     IP = 'IP'
 
+    def __str__(self):
+        return f'{self.value}'
+
 
 class WifiOptions(str, Enum):
     SSID = 'SSID'
@@ -48,6 +51,9 @@ class WifiOptions(str, Enum):
     IP = 'IP'
     DHCP = 'DHCP'
 
+    def __str__(self):
+        return f'{self.value}'
+
 
 class BashOptions(str, Enum):
     CYCLONEDDS_URI = 'CYCLONEDDS_URI'
@@ -60,6 +66,9 @@ class BashOptions(str, Enum):
     WORKSPACE = 'WORKSPACE_SETUP'
     SUPER_CLIENT = 'ROS_SUPER_CLIENT'
 
+    def __str__(self):
+        return f'{self.value}'
+
 
 class DiscoveryOptions(str, Enum):
     ENABLED = 'ENABLED'
@@ -69,6 +78,9 @@ class DiscoveryOptions(str, Enum):
     OFFBOARD_PORT = 'OFFBOARD_PORT'
     OFFBOARD_ID = 'OFFBOARD_ID'
 
+    def __str__(self):
+        return f'{self.value}'
+
 
 class Conf():
     setup_dir = '/etc/turtlebot4/'
@@ -203,7 +215,7 @@ def write_system(self):
                 is_conf = False
                 for k in [SystemOptions.MODEL, SystemOptions.VERSION, SystemOptions.ROS]:
                     if k in line:
-                        system[i] = f'{k.value}:{self.system_conf[k]}\n'
+                        system[i] = f'{k}:{self.system_conf[k]}\n'
                         is_conf = True
                         break
 
@@ -334,26 +346,26 @@ def write_bash(self):
                 if v is None:
                     v = ''
                 for i, line in enumerate(bash):
-                    export_re = re.compile(rf'^\s*export\s+{k.value}=.*')
+                    export_re = re.compile(rf'^\s*export\s+{k}=.*')
                     if export_re.match(line):
                         if (k == BashOptions.SUPER_CLIENT and str(v) == 'True'):
                             # Ensure super client is only applied on user terminals
-                            bash[i] = f'[ -t 0 ] && export {k.value}={v} || export {k.value}=False\n'  # noqa: 501
+                            bash[i] = f'[ -t 0 ] && export {k}={v} || export {k}=False\n'  # noqa: 501
                         else:
                             # Quotations required around v to handle multiple servers
                             # in discovery server
-                            bash[i] = f'export {k.value}=\"{v}\"\n'
+                            bash[i] = f'export {k}=\"{v}\"\n'
                         found = True
 
                 # If the setting is missing from the setup.bash, add it to the beginning
                 if not found:
                     if (k == BashOptions.SUPER_CLIENT and str(v) == 'True'):
                         # Ensure super client is only applied on user terminals
-                        bash.insert(0, f'[ -t 0 ] && export {k.value}={v} || export {k.value}=False\n')  # noqa: 501
+                        bash.insert(0, f'[ -t 0 ] && export {k}={v} || export {k}=False\n')  # noqa: 501
                     else:
                         # Quotations required around v to handle multiple servers
                         # in discovery server
-                        bash.insert(0, f'export {k.value}=\"{v}\"\n')
+                        bash.insert(0, f'export {k}=\"{v}\"\n')
 
         with open('/tmp' + self.setup_bash_file, 'w') as f:
             f.writelines(bash)