Robotics with ROS2

Create a ROS2 development workstation with:

Base: Ubuntu 24.04

ROS2:
- Distribution: Jazzy
- Desktop installation (full)
- Gazebo Harmonic simulator
- RViz2 visualization

Tools:
- VS Code with ROS extension
- Python 3.12 with colcon
- C++ build tools (cmake, gcc)
- Git

Packages:
- ros-jazzy-desktop
- ros-jazzy-gazebo-ros-pkgs
- ros-jazzy-navigation2
- ros-jazzy-slam-toolbox
- ros-jazzy-moveit

User: robot (sudo, dialout groups)

Create a ROS2 robot runtime with:

Base: Ubuntu 24.04 minimal

ROS2:
- Distribution: Jazzy
- Base only (no GUI)
- CycloneDDS

Features:
- Headless
- SSH access
- Real-time kernel (PREEMPT_RT)

Hardware:
- USB serial (dialout group)
- I2C, SPI, GPIO access
- Camera support (v4l2)

Packages:
- ros-jazzy-ros-base
- ros-jazzy-sensor-msgs
- ros-jazzy-tf2-ros

User: robot (sudo, dialout, i2c, gpio, video)

Auto-start ROS nodes. Enable watchdog.

Add tests to verify:
- ROS2 daemon starts successfully
- Can create and destroy nodes
- DDS discovery works
- Hardware interfaces are accessible
- Real-time kernel is running (if enabled)