Need to pin the Navigation2 version number for stability

[mkhansenbot]

Issue #140 is now fixed but in order to prevent future breakage, we should pin the version number for Navigation2 to a known good version, the same way we do with other repos.

[xfiderek]

Hi @mkhansenbot , I've noticed the same and have just kicked off the discussion to fix it for good in robust way, while making it consistent with build process of spaceros base image: space-ros/space-ros#148

[xfiderek]

See discussion space-ros/space-ros#140 and issue space-ros/space-ros#107 for more context
TODOs

• Use a new generate_repos.sh file from updated spaceros dev image and generate pinned .repos file
• Move the docker image to stacks repo
• Decide if we want to push this image to dockerhub

[Bckempa]

Descoped from release due to PR in draft state

[asimonov]

May I ask what is the version of nav2 we would like to pin?

I am currently trying to create a version of this nav2 docker for my use. I thought jazzy version of nav2 (released few weeks back) would be a great idea to try... Looks like it is not.

what I tried:

• take our current humble space-ros base image
• clone nav2/jazzy
• play around with nav2 dependencies - try jazzy, but switch to humble if it does not work
• make sure no ros-* apt packages get into the build, so manually remove everything related to gazebo, rviz, slam_toolbox and few others
• getting to nav2 colcon build

The nav2 build is failing due to core ros2 package versions incompatibilities. For example:

--- stderr: nav2_util                               
In file included from /home/spaceros-user/nav2_ws/src/navigation2/nav2_util/src/base_footprint_publisher.cpp:17:
/home/spaceros-user/nav2_ws/src/navigation2/nav2_util/src/base_footprint_publisher.hpp:57:8: error: ‘void nav2_util::BaseFootprintPublisherListener::subscription_callback(tf2_msgs::msg::TFMessage_<std::allocator<void> >::ConstSharedPtr, bool)’ marked ‘override’, but does not override
   57 |   void subscription_callback(tf2_msgs::msg::TFMessage::ConstSharedPtr msg, bool is_static) override
      |        ^~~~~~~~~~~~~~~~~~~~~
/home/spaceros-user/nav2_ws/src/navigation2/nav2_util/src/base_footprint_publisher.hpp: In member function ‘void nav2_util::BaseFootprintPublisherListener::subscription_callback(tf2_msgs::msg::TFMessage_<std::allocator<void> >::ConstSharedPtr, bool)’:
/home/spaceros-user/nav2_ws/src/navigation2/nav2_util/src/base_footprint_publisher.hpp:59:45: error: ‘void tf2_ros::TransformListener::subscription_callback(tf2_msgs::msg::TFMessage_<std::allocator<void> >::ConstSharedPtr, bool)’ is private within this context
   59 |     TransformListener::subscription_callback(msg, is_static);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
In file included from /home/spaceros-user/nav2_ws/src/navigation2/nav2_util/src/base_footprint_publisher.hpp:25,
                 from /home/spaceros-user/nav2_ws/src/navigation2/nav2_util/src/base_footprint_publisher.cpp:17:
/opt/spaceros/install/tf2_ros/include/tf2_ros/tf2_ros/transform_listener.h:158:8: note: declared private here
  158 |   void subscription_callback(tf2_msgs::msg::TFMessage::ConstSharedPtr msg, bool is_static);
      |        ^~~~~~~~~~~~~~~~~~~~~
gmake[2]: *** [src/CMakeFiles/base_footprint_publisher.dir/build.make:76: src/CMakeFiles/base_footprint_publisher.dir/base_footprint_publisher.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:208: src/CMakeFiles/base_footprint_publisher.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

i thought i could hack around, but with issues like these I do not think it is possible to jump to jazzy nav2 without moving space-ros to jazzy. FYI nav2 humble is ~650 commits behind jazzy.

we can pin nav2 repo to humble for now?

[Bckempa]

This seems to have been addressed by #152, are we good to close @xfiderek, @eholum?

[xfiderek]

Yes, its done

[asimonov]

Yes