# PyBulletFleet Jazzy APT Preview

This is a flat APT repository for the PyBulletFleet ROS 2 Jazzy preview.
It contains the `0.1.3` bridge package plus the `0.1.2` messages and RMF
companion packages, built from source tag `v0.1.3-ros2` at commit
`f2964bd`.

## Contents

- `ros-jazzy-pybullet-fleet-msgs`
- `ros-jazzy-pybullet-fleet-ros`
- `ros-jazzy-pybullet-fleet-rmf`

Verify `SHA256SUMS` before adding this repository to a demo machine.

## ROSCon Preview Installation

This preview uses HTTPS and checksums, but its APT metadata is not signed.
Use `[trusted=yes]` only for a time-limited demo environment, not for a
general-purpose or long-lived installation.

```bash
echo 'deb [trusted=yes] https://yuokamoto.github.io/pybullet-fleet-apt/ ./' \
  | sudo tee /etc/apt/sources.list.d/pybulletfleet-preview.list
sudo apt update
sudo apt install -y \
  ros-jazzy-pybullet-fleet-ros \
  python3-pip python3-dev build-essential

# ROS console scripts use system Python, not an activated virtual environment.
# Install the matching released core package after the v0.7.3 PyPI workflow completes.
python3 -m pip install --user --break-system-packages pybullet-fleet==0.7.3
source /opt/ros/jazzy/setup.bash
```

For the optional PyBulletFleet DataMonitor tkinter window, install its system
dependency:

```bash
sudo apt install -y python3-tk
```

## Run Examples

Confirm that the Python package and its bundled examples are available:

```bash
pybullet-fleet examples --list
```

With WSLg or another desktop display available, run the built-in grid demo:

```bash
pybullet-fleet examples --run 100robots_grid_demo.py
```

For a ROS 2 bridge smoke test that does not require a GUI, start the installed
three-robot configuration. The node should stay running; stop it with `Ctrl-C`.

```bash
ros2 run pybullet_fleet_ros bridge_node --ros-args \
  -p config_yaml:="$(ros2 pkg prefix pybullet_fleet_ros)/share/pybullet_fleet_ros/config/bridge_test.yaml"
```

The RMF adapter package is installable with
`ros-jazzy-pybullet-fleet-rmf`. Full office, hotel, airport, clinic, campus,
and battle-royale demos also require a compatible source-built `rmf_demos`
and `rmf_demos_maps` overlay. Use the PyBulletFleet Docker workflow when that
overlay is not already available.

## Scope

This repository supplements the official ROS APT release. Do not enable both
sources for the same package version without an APT pinning policy. It remains
available as a preview distribution after an official release is available.