Transition Beluga to Noble with Rolling (#349)

### Proposed changes

ROS 2 Rolling Ridley has moved on from Ubuntu Jammy. This patch updates
Beluga packages to follow Rolling to Ubuntu Noble.

#### Type of change

- [x] 🐛 Bugfix (change which fixes an issue)
- [ ] 🚀 Feature (change which adds functionality)
- [ ] 📚 Documentation (change which fixes or extends documentation)

### Checklist

- [x] Lint and unit tests (if any) pass locally with my changes
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have added necessary documentation (if appropriate)
- [x] All commits have been signed for
[DCO](https://developercertificate.org/)

### Additional comments

The build is not quite fixed yet because not all our dependencies are
available yet (or even build) for Rolling on Noble.

---------

Signed-off-by: Michel Hidalgo <[email protected]>

beluga/test/beluga/sensor/data/test_occupancy_grid.cpp

@@ -83,8 +83,13 @@ TEST(OccupancyGrid2, AllFreeCells) {
 TEST(OccupancyGrid2, ObstacleData) {
   const auto grid = StaticOccupancyGrid<5, 2>{{false, false, false, false, true, false, false, false, true, false}};
 
+// See https://gcc.gnu.org/bugzilla/show_bug.cgi?id=111118
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
   // Data and obstacle data are equivalent in this case
   ASSERT_THAT(grid.obstacle_data() | ranges::to<std::vector>, testing::Pointwise(testing::Eq(), grid.data()));
+#pragma GCC diagnostic pop
 }
 
 TEST(OccupancyGrid2, GlobalCoordinatesForCells) {

beluga/test/beluga/views/test_random_intersperse.cpp

@@ -21,6 +21,7 @@
 #include <range/v3/view/generate.hpp>
 #include <range/v3/view/iota.hpp>
 #include <range/v3/view/take.hpp>
+#include <range/v3/view/take_exactly.hpp>
 
 namespace {
 
@@ -101,7 +102,7 @@ TEST(RandomIntersperseView, GuaranteedIntersperseWithNullaryFunction) {
   auto input = std::array{10, 20, 30};
   auto output = input |                                                               //
                 beluga::views::random_intersperse([]() { return 4; }, probability) |  //
-                ranges::views::take(5) |                                              //
+                ranges::views::take_exactly(5) |                                      //
                 ranges::to<std::vector>;
   ASSERT_EQ(ranges::size(output), 5);
   ASSERT_THAT(output, testing::ElementsAre(10, 4, 4, 4, 4));
@@ -112,7 +113,7 @@ TEST(RandomIntersperseView, GuaranteedIntersperseWithUnaryFunction) {
   auto input = std::array{10, 20, 30};
   auto output = input |                                                                     //
                 beluga::views::random_intersperse([](auto&) { return 42; }, probability) |  //
-                ranges::views::take(2) |                                                    //
+                ranges::views::take_exactly(2) |                                            //
                 ranges::to<std::vector>;
   ASSERT_EQ(ranges::size(output), 2);
   ASSERT_THAT(output, testing::ElementsAre(10, 42));

docker/images/rolling/Dockerfile

@@ -1,4 +1,4 @@
-FROM ros:rolling-ros-base-jammy AS cacher
+FROM ros:rolling-ros-base AS cacher
 
 WORKDIR /ws/src
 
@@ -12,7 +12,7 @@ RUN mkdir -p /tmp/ws/src \
   && find ./ -name "COLCON_IGNORE" | xargs cp --parents -t /tmp/ws/src \
   || true
 
-FROM ros:rolling-ros-base-jammy AS timem-builder
+FROM ros:rolling-ros-base AS timem-builder
 
 RUN apt-get update \
   && apt-get install --no-install-recommends -y \
@@ -32,7 +32,7 @@ RUN git clone -b develop https://github.com/NERSC/timemory.git \
     . \
   && cmake --build ./build --target timem
 
-FROM ros:rolling-ros-base-jammy AS builder
+FROM ros:rolling-ros-base AS builder
 
 ENV DEBIAN_FRONTEND noninteractive
 
@@ -52,6 +52,7 @@ RUN apt-get update \
     tmux \
   && rm -rf /var/lib/apt/lists/*
 
+ENV PIP_BREAK_SYSTEM_PACKAGES 1
 RUN pip install \
   evo==1.21.0 \
   pre-commit==2.20.0
@@ -67,8 +68,8 @@ RUN perf help || ( \
 ARG USER=developer
 ARG GROUP=ekumen
 
-RUN addgroup --gid 1000 $GROUP \
-  && adduser --uid 1000 --ingroup $GROUP --home /home/$USER --shell /bin/sh --disabled-password --gecos "" $USER \
+RUN addgroup --gid 1001 $GROUP \
+  && adduser --uid 1001 --ingroup $GROUP --home /home/$USER --shell /bin/sh --disabled-password --gecos "" $USER \
   && adduser $USER sudo \
   && echo "$USER ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USER
 
@@ -98,7 +99,7 @@ RUN sudo apt-get update \
   && sudo apt-get -y dist-upgrade \
   && . /opt/ros/rolling/setup.sh \
   && rosdep update \
-  && rosdep install -i -y --from-path src --skip-keys 'slam_toolbox' \
+  && rosdep install -i -y --from-path src --skip-keys 'turtlebot3_gazebo gazebo_ros_pkgs slam_toolbox' \
   && rosdep install -i -y --from-path src -t doc \
   && sudo rm -rf /var/lib/apt/lists/*