Move Nav2 CI to 24.04 / Rolling

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v21\
+              - "<< parameters.key >>-v23\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v21\
+              - "<< parameters.key >>-v23\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v21\
+            key: "<< parameters.key >>-v23\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -82,6 +82,7 @@ _commands:
         - run:
             name: Install Dependencies | << parameters.workspace >>
             working_directory: << parameters.workspace >>
+            # Remove/Replace turtlebot3_gazebo and gazebo_ros_pkgs from --skip-keys after https://github.com/ros-navigation/navigation2/pull/3634
             command: |
               . << parameters.underlay >>/install/setup.sh
               AMENT_PREFIX_PATH=$(echo "$AMENT_PREFIX_PATH" | \
@@ -96,11 +97,6 @@ _commands:
                 (echo vcs_export && cat) >> lockfile.txt
               sha256sum $PWD/lockfile.txt >> lockfile.txt
 
-              # Temp: Rolling transition to 24.04 leaves rosdep in 22.04 in the lurch
-              # This replaces main rosdep index with the last prior to release: Feb 28, 2024
-              sed -i "s|ros\/rosdistro\/master|ros\/rosdistro\/rolling\/2024-02-28|" /etc/ros/rosdep/sources.list.d/20-default.list
-              export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml
-
               apt-get update
               rosdep update --rosdistro $ROS_DISTRO
               dependencies=$(
@@ -109,6 +105,7 @@ _commands:
                   --ignore-src \
                   --skip-keys " \
                     slam_toolbox \
+                    turtlebot3_gazebo \
                     " \
                   --verbose | \
                 awk '$1 ~ /^resolution\:/' | \
@@ -487,7 +484,7 @@ _environments:
 executors:
   release_exec:
     docker:
-      - image: ghcr.io/ros-planning/navigation2:main
+      - image: ghcr.io/ros-navigation/navigation2:main
     resource_class: large
     working_directory: /opt/overlay_ws
     environment:

.devcontainer/devcontainer.json

@@ -3,10 +3,11 @@
     "build": {
         "dockerfile": "../Dockerfile",
         "context": "..",
-        "target": "visualizer",
-        "cacheFrom": "ghcr.io/ros-planning/navigation2:main"
+        "target": "dever",
+        "cacheFrom": "ghcr.io/ros-navigation/navigation2:main"
     },
     "runArgs": [
+        "--name=nav2"
         // "--cap-add=SYS_PTRACE", // enable debugging, e.g. gdb
         // "--ipc=host", // shared memory transport with host, e.g. rviz GUIs
         // "--network=host", // network access to host interfaces, e.g. eth0

.github/workflows/lint.yml

@@ -7,7 +7,7 @@ jobs:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
     strategy:
       fail-fast: false
       matrix:

Dockerfile

@@ -57,7 +57,7 @@ RUN apt-get update && \
       ros-$ROS_DISTRO-rmw-fastrtps-cpp \
       ros-$ROS_DISTRO-rmw-connextdds \
       ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
-    && pip3 install \
+    && pip3 install --break-system-packages \
       fastcov \
       git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \
       git+https://github.com/ruffsl/colcon-clean.git@a7f1074d1ebc1a54a6508625b117974f2672f2a9 \
@@ -96,11 +96,14 @@ ARG OVERLAY_WS
 ENV OVERLAY_WS $OVERLAY_WS
 WORKDIR $OVERLAY_WS
 COPY --from=cacher /tmp/$OVERLAY_WS ./
+
+# Remove/Replace turtlebot3_gazebo and gazebo_ros_pkgs from --skip-keys after https://github.com/ros-navigation/navigation2/pull/3634
 RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
       --skip-keys " \
         slam_toolbox \
+        turtlebot3_gazebo \
         "\
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
@@ -145,7 +148,7 @@ RUN apt-get update && \
       bash-completion \
       gdb \
       wget && \
-    pip3 install \
+    pip3 install --break-system-packages \
       bottle \
       glances
 

README.md

@@ -15,7 +15,7 @@ For detailed instructions on how to:
 - [Configure](https://docs.nav2.org/configuration/index.html)
 - [Navigation Plugins](https://docs.nav2.org/plugins/index.html)
 - [Migration Guides](https://docs.nav2.org/migration/index.html)
-- [Container Images for Building Nav2](https://github.com/orgs/ros-planning/packages/container/package/navigation2)
+- [Container Images for Building Nav2](https://github.com/orgs/ros-navigation/packages/container/package/navigation2)
 - [Contribute](https://docs.nav2.org/development_guides/involvement_docs/index.html)
 
 Please visit our [documentation site](https://docs.nav2.org/). [Please visit our community Slack here](https://join.slack.com/t/navigation2/shared_invite/zt-hu52lnnq-cKYjuhTY~sEMbZXL8p9tOw) (if this link does not work, please contact maintainers to reactivate).

nav2_behavior_tree/CMakeLists.txt

@@ -20,6 +20,8 @@ find_package(nav2_util REQUIRED)
 
 nav2_package()
 
+add_compile_options(-Wno-shadow) # Delete after https://github.com/BehaviorTree/BehaviorTree.CPP/issues/811 is released
+
 include_directories(
   include
 )

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -387,7 +387,7 @@ class BtActionNode : public BT::ActionNodeBase
       };
     send_goal_options.feedback_callback =
       [this](typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr,
-        const std::shared_ptr<const typename ActionT::Feedback> feedback) {
+      const std::shared_ptr<const typename ActionT::Feedback> feedback) {
         feedback_ = feedback;
         emitWakeUpSignal();
       };

nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp

@@ -57,7 +57,7 @@ inline BT::NodeStatus GoalUpdater::tick()
 
   getInput("input_goal", goal);
 
-  callback_group_executor_.spin_some();
+  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
 
   if (last_goal_received_.header.stamp != rclcpp::Time(0)) {
     auto last_goal_received_time = rclcpp::Time(last_goal_received_.header.stamp);

nav2_behavior_tree/test/plugins/condition/test_distance_traveled.cpp

@@ -29,6 +29,7 @@ class DistanceTraveledConditionTestFixture : public nav2_behavior_tree::Behavior
   {
     config_->input_ports["global_frame"] = "map";
     config_->input_ports["robot_base_frame"] = "base_link";
+    config_->input_ports["distance"] = 1.0;
     bt_node_ = std::make_shared<nav2_behavior_tree::DistanceTraveledCondition>(
       "distance_traveled", *config_);
   }
@@ -89,6 +90,5 @@ int main(int argc, char ** argv)
 
   // shutdown ROS
   rclcpp::shutdown();
-
   return all_successful;
 }

nav2_behavior_tree/test/plugins/condition/test_globally_updated_goal.cpp

@@ -27,6 +27,8 @@ class GloballyUpdatedGoalConditionTestFixture : public nav2_behavior_tree::Behav
 public:
   void SetUp()
   {
+    config_->input_ports["goals"] = "";
+    config_->input_ports["goal"] = "";
     bt_node_ = std::make_shared<nav2_behavior_tree::GloballyUpdatedGoalCondition>(
       "globally_updated_goal", *config_);
   }

nav2_behavior_tree/test/plugins/condition/test_goal_updated.cpp

@@ -28,6 +28,8 @@ class GoalUpdatedConditionTestFixture : public nav2_behavior_tree::BehaviorTreeT
 public:
   void SetUp()
   {
+    config_->input_ports["goals"] = "";
+    config_->input_ports["goal"] = "";
     bt_node_ = std::make_shared<nav2_behavior_tree::GoalUpdatedCondition>(
       "goal_updated", *config_);
   }

nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp

@@ -26,6 +26,7 @@ class InitialPoseReceivedConditionTestFixture : public nav2_behavior_tree::Behav
 public:
   void SetUp()
   {
+    config_->input_ports["initial_pose_received"] = false;
     bt_node_ = std::make_shared<nav2_behavior_tree::InitialPoseReceived>("TestNode", *config_);
   }
 

nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp

@@ -18,10 +18,12 @@
 #include <set>
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav_msgs/msg/path.hpp"
 #include "nav2_util/robot_utils.hpp"
 
 #include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 using namespace std::chrono;  // NOLINT
 using namespace std::chrono_literals;  // NOLINT
@@ -33,6 +35,9 @@ class PathExpiringTimerConditionTestFixture : public nav2_behavior_tree::Behavio
   {
     node_ = std::make_shared<rclcpp::Node>("test_path_expiring_condition");
     config_ = new BT::NodeConfiguration();
+    config_->input_ports["seconds"] = 1.0;
+    config_->input_ports["path"] = "";
+
     config_->blackboard = BT::Blackboard::create();
     config_->blackboard->set("node", node_);
     bt_node_ = std::make_shared<nav2_behavior_tree::PathExpiringTimerCondition>(

nav2_behavior_tree/test/plugins/condition/test_time_expired.cpp

@@ -32,6 +32,7 @@ class TimeExpiredConditionTestFixture : public nav2_behavior_tree::BehaviorTreeT
 public:
   void SetUp()
   {
+    config_->input_ports["seconds"] = 1.0;
     bt_node_ = std::make_shared<nav2_behavior_tree::TimeExpiredCondition>(
       "time_expired", *config_);
   }

nav2_behavior_tree/test/plugins/control/test_recovery_node.cpp

@@ -58,6 +58,7 @@ class RecoveryNodeTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixtu
 public:
   void SetUp() override
   {
+    config_->input_ports["number_of_retries"] = 1;
     bt_node_ = std::make_shared<nav2_behavior_tree::RecoveryNode>(
       "recovery_node", *config_);
     first_child_ = std::make_shared<RecoveryDummy>();

nav2_behavior_tree/test/plugins/decorator/test_distance_controller.cpp

@@ -30,6 +30,7 @@ class DistanceControllerTestFixture : public nav2_behavior_tree::BehaviorTreeTes
 public:
   void SetUp()
   {
+    config_->input_ports["distance"] = 1.0;
     config_->input_ports["global_frame"] = "map";
     config_->input_ports["robot_base_frame"] = "base_link";
     bt_node_ = std::make_shared<nav2_behavior_tree::DistanceController>(

nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp

@@ -36,7 +36,8 @@ class GoalUpdatedControllerTestFixture : public nav2_behavior_tree::BehaviorTree
     poses1.push_back(goal1);
     config_->blackboard->set("goal", goal1);
     config_->blackboard->set("goals", poses1);
-
+    config_->input_ports["goals"] = "";
+    config_->input_ports["goal"] = "";
     bt_node_ = std::make_shared<nav2_behavior_tree::GoalUpdatedController>(
       "goal_updated_controller", *config_);
     dummy_node_ = std::make_shared<nav2_behavior_tree::DummyNode>();

nav2_behavior_tree/test/plugins/decorator/test_rate_controller.cpp

@@ -29,6 +29,7 @@ class RateControllerTestFixture : public nav2_behavior_tree::BehaviorTreeTestFix
 public:
   void SetUp()
   {
+    config_->input_ports["hz"] = 10.0;
     bt_node_ = std::make_shared<nav2_behavior_tree::RateController>(
       "rate_controller", *config_);
     dummy_node_ = std::make_shared<nav2_behavior_tree::DummyNode>();

nav2_behavior_tree/test/plugins/decorator/test_speed_controller.cpp

@@ -45,6 +45,13 @@ class SpeedControllerTestFixture : public nav2_behavior_tree::BehaviorTreeTestFi
     std::vector<geometry_msgs::msg::PoseStamped> fake_poses;
     config_->blackboard->set("goals", fake_poses);  // NOLINT
 
+    config_->input_ports["min_rate"] = 0.1;
+    config_->input_ports["max_rate"] = 1.0;
+    config_->input_ports["min_speed"] = 0.0;
+    config_->input_ports["max_speed"] = 0.5;
+    config_->input_ports["goals"] = "";
+    config_->input_ports["goal"] = "";
+
     bt_node_ = std::make_shared<nav2_behavior_tree::SpeedController>("speed_controller", *config_);
     dummy_node_ = std::make_shared<nav2_behavior_tree::DummyNode>();
     bt_node_->setChild(dummy_node_.get());

nav2_bringup/package.xml

@@ -19,7 +19,8 @@
   <exec_depend>navigation2</exec_depend>
   <exec_depend>nav2_common</exec_depend>
   <exec_depend>slam_toolbox</exec_depend>
-  <exec_depend>turtlebot3_gazebo</exec_depend>
+  <!-- Replace after https://github.com/ros-navigation/navigation2/pull/3634 -->
+  <!-- <exec_depend>turtlebot3_gazebo</exec_depend> -->
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>

nav2_collision_monitor/test/collision_monitor_node_test.cpp

@@ -1503,9 +1503,9 @@ TEST_F(Tester, testCollisionPointsMarkers)
   ASSERT_TRUE(waitCollisionPointsMarker(500ms));
   ASSERT_EQ(collision_points_marker_msg_->markers[0].points.size(), 0u);
 
-  publishCmdVel(0.5, 0.2, 0.1);
   publishScan(0.5, curr_time);
   ASSERT_TRUE(waitData(0.5, 500ms, curr_time));
+  publishCmdVel(0.5, 0.2, 0.1);
   ASSERT_TRUE(waitCollisionPointsMarker(500ms));
   ASSERT_NE(collision_points_marker_msg_->markers[0].points.size(), 0u);
   // Stop Collision Monitor node

nav2_constrained_smoother/test/test_constrained_smoother.cpp

@@ -404,7 +404,7 @@ class SmootherTest : public ::testing::Test
   int cusp_i_ = -1;
   QualityCriterion3 mvmt_smoothness_criterion_ =
     [this](int i, const Eigen::Vector3d & prev_p, const Eigen::Vector3d & p,
-      const Eigen::Vector3d & next_p) {
+    const Eigen::Vector3d & next_p) {
       Eigen::Vector2d prev_mvmt = p.block<2, 1>(0, 0) - prev_p.block<2, 1>(0, 0);
       Eigen::Vector2d next_mvmt = next_p.block<2, 1>(0, 0) - p.block<2, 1>(0, 0);
       if (i == cusp_i_) {
@@ -986,7 +986,7 @@ TEST_F(SmootherTest, testingDownsamplingUpsampling)
   int cusp_i_out = 6;  // for upsampled path
   QualityCriterion3 mvmt_smoothness_criterion_out =
     [&cusp_i_out](int i, const Eigen::Vector3d & prev_p, const Eigen::Vector3d & p,
-      const Eigen::Vector3d & next_p) {
+    const Eigen::Vector3d & next_p) {
       Eigen::Vector2d prev_mvmt = p.block<2, 1>(0, 0) - prev_p.block<2, 1>(0, 0);
       Eigen::Vector2d next_mvmt = next_p.block<2, 1>(0, 0) - p.block<2, 1>(0, 0);
       if (i == cusp_i_out) {

nav2_costmap_2d/src/footprint.cpp

@@ -194,7 +194,8 @@ bool makeFootprintFromString(
     RCLCPP_ERROR(
       rclcpp::get_logger(
         "nav2_costmap_2d"),
-      "You must specify at least three points for the robot footprint, reverting to previous footprint."); //NOLINT
+      "You must specify at least three points for the robot footprint,"
+      " reverting to previous footprint.");
     return false;
   }
   footprint.reserve(vvf.size());
@@ -209,7 +210,8 @@ bool makeFootprintFromString(
       RCLCPP_ERROR(
         rclcpp::get_logger(
           "nav2_costmap_2d"),
-        "Points in the footprint specification must be pairs of numbers. Found a point with %d numbers.", //NOLINT
+        "Points in the footprint specification must be pairs of numbers."
+        " Found a point with %d numbers.",
         static_cast<int>(vvf[i].size()));
       return false;
     }

nav2_costmap_2d/test/integration/costmap_tester.cpp

@@ -129,7 +129,8 @@ void CostmapTester::compareCells(
       RCLCPP_ERROR(
         rclcpp::get_logger(
           "costmap_tester"),
-        "Cell cost (%d, %d): %d, neighbor cost (%d, %d): %d, expected lowest cost: %d, cell distance: %.2f, furthest valid distance: %.2f", // NOLINT
+        "Cell cost (%d, %d): %d, neighbor cost (%d, %d): %d, expected lowest cost:"
+        " %d, cell distance: %.2f, furthest valid distance: %.2f",
         x, y, cell_cost, nx, ny, neighbor_cost, expected_lowest_cost,
         cell_distance, furthest_valid_distance);
       RCLCPP_ERROR(

nav2_costmap_2d/test/integration/dyn_params_tests.cpp

@@ -57,9 +57,10 @@ TEST(DynParamTestNode, testDynParamsSet)
   costmap->on_activate(rclcpp_lifecycle::State());
 
   auto parameter_client = std::make_shared<rclcpp::AsyncParametersClient>(
-    node->shared_from_this(),
-    "/test_costmap/test_costmap",
-    rmw_qos_profile_parameters);
+    costmap->get_node_base_interface(), costmap->get_node_topics_interface(),
+    costmap->get_node_graph_interface(),
+    costmap->get_node_services_interface());
+
   auto results1 = parameter_client->set_parameters_atomically(
   {
     rclcpp::Parameter("robot_radius", 1.234),
@@ -83,7 +84,8 @@ TEST(DynParamTestNode, testDynParamsSet)
     rclcpp::Parameter("robot_base_frame", "wrong_test_frame"),
   });
 
-  rclcpp::spin_some(costmap->get_node_base_interface());
+  rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(50));
+  rclcpp::spin_all(costmap->get_node_base_interface(), std::chrono::milliseconds(50));
 
   EXPECT_EQ(costmap->get_parameter("robot_radius").as_double(), 1.234);
   EXPECT_EQ(costmap->get_parameter("footprint_padding").as_double(), 2.345);

nav2_map_server/CMakeLists.txt

@@ -15,6 +15,7 @@ find_package(std_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(nav2_util REQUIRED)
 find_package(GRAPHICSMAGICKCPP REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
 nav2_package()
 
@@ -118,7 +119,8 @@ target_include_directories(${map_io_library_name} SYSTEM PRIVATE
   ${GRAPHICSMAGICKCPP_INCLUDE_DIRS})
 
 target_link_libraries(${map_io_library_name}
-  ${GRAPHICSMAGICKCPP_LIBRARIES})
+  ${GRAPHICSMAGICKCPP_LIBRARIES}
+  yaml-cpp::yaml-cpp)
 
 if(WIN32)
   target_compile_definitions(${map_io_library_name} PRIVATE
@@ -160,5 +162,5 @@ ament_export_libraries(
   ${library_name}
   ${map_io_library_name}
 )
-ament_export_dependencies(${map_io_dependencies} ${map_server_dependencies})
+ament_export_dependencies(${map_io_dependencies} ${map_server_dependencies} yaml-cpp)
 ament_package()