Migrate nav2_utils's ros relavant dependencies to nav2_ros_common (backport #44)

nav2_frenet_ilqr_controller/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(frenet_trajectory_planner REQUIRED)
 find_package(ilqr_trajectory_tracker REQUIRED)
+find_package(nav2_ros_common REQUIRED)
 
 include_directories(
   include
@@ -31,6 +32,7 @@ add_library(${library_name} SHARED
   src/frenet_ilqr_controller.cpp
   src/path_handler.cpp
   src/parameter_handler.cpp)
+<<<<<<< HEAD
 
 ament_target_dependencies(${library_name}
   rclcpp
@@ -46,13 +48,40 @@ ament_target_dependencies(${library_name}
   frenet_trajectory_planner
   ilqr_trajectory_tracker
   rcl_interfaces
+=======
+target_include_directories(${library_name}
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    "$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
+)
+target_link_libraries(${library_name} PUBLIC
+  ${geometry_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  ${nav_msgs_TARGETS}
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  ${std_msgs_TARGETS}
+  tf2::tf2
+  tf2_ros::tf2_ros
+  frenet_trajectory_planner::frenet_trajectory_planner_lib
+  ilqr_trajectory_tracker::ilqr_trajectory_tracker_lib
+)
+target_link_libraries(${library_name} PRIVATE
+  angles::angles
+>>>>>>> 443563f (Migrate nav2_utils's ros relavant dependencies to nav2_ros_common (#44))
 )
 
 add_library(nav2_frenet_ilqr_controller_costs SHARED
   src/costs/lateral_distance_cost.cpp
   src/costs/longtitutal_velocity_cost.cpp
   src/costs/obstacle_cost.cpp)
 
+<<<<<<< HEAD
 ament_target_dependencies(nav2_frenet_ilqr_controller_costs
   rclcpp
   geometry_msgs
@@ -67,11 +96,33 @@ ament_target_dependencies(nav2_frenet_ilqr_controller_costs
   frenet_trajectory_planner
   ilqr_trajectory_tracker
   rcl_interfaces
+=======
+target_include_directories(nav2_frenet_ilqr_controller_costs
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    "$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
+)
+
+target_link_libraries(nav2_frenet_ilqr_controller_costs PUBLIC
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  ${nav_msgs_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  frenet_trajectory_planner::frenet_trajectory_planner_lib
+)
+
+target_link_libraries(nav2_frenet_ilqr_controller_costs PRIVATE
+  pluginlib::pluginlib
+>>>>>>> 443563f (Migrate nav2_utils's ros relavant dependencies to nav2_ros_common (#44))
 )
 
 add_library(nav2_frenet_ilqr_controller_policies SHARED
   src/policies/obstacle_policy.cpp)
 
+<<<<<<< HEAD
 ament_target_dependencies(nav2_frenet_ilqr_controller_policies
   rclcpp
   geometry_msgs
@@ -86,6 +137,27 @@ ament_target_dependencies(nav2_frenet_ilqr_controller_policies
   frenet_trajectory_planner
   ilqr_trajectory_tracker
   rcl_interfaces
+=======
+target_include_directories(nav2_frenet_ilqr_controller_policies
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+    "$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
+)
+
+target_link_libraries(nav2_frenet_ilqr_controller_policies PUBLIC
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  ${nav_msgs_TARGETS}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  ${rcl_interfaces_TARGETS}
+  frenet_trajectory_planner::frenet_trajectory_planner_lib
+)
+
+target_link_libraries(nav2_frenet_ilqr_controller_policies PRIVATE
+  pluginlib::pluginlib
+>>>>>>> 443563f (Migrate nav2_utils's ros relavant dependencies to nav2_ros_common (#44))
 )
 
 install(TARGETS ${library_name} nav2_frenet_ilqr_controller_costs nav2_frenet_ilqr_controller_policies
@@ -126,6 +198,7 @@ ament_export_dependencies(
   std_msgs
   tf2
   tf2_ros
+  nav2_ros_common
 )
 ament_export_targets(${library_name})
 

nav2_frenet_ilqr_controller/include/nav2_frenet_ilqr_controller/costs/lateral_distance_cost.hpp

@@ -2,10 +2,10 @@
 #define NAV2_FRENET_ILQR_CONTROLLER__COSTS__LATERAL_DISTANCE_COST_HPP_
 
 #include <memory>
-#include "nav2_util/node_utils.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "nav2_frenet_ilqr_controller/costs/rclcpp_node_cost.hpp"
 
-using nav2_util::declare_parameter_if_not_declared;
+using nav2::declare_parameter_if_not_declared;
 using rcl_interfaces::msg::ParameterType;
 
 namespace nav2_frenet_ilqr_controller
@@ -20,7 +20,7 @@ class LateralDistanceCost : public RclcppNodeCost
   LateralDistanceCost();
   void initialize(
     const std::string & cost_plugin_name,
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & node,
+    const nav2::LifecycleNode::WeakPtr & node,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
   double cost(
     const FrenetTrajectory & frenet_trajectory,

nav2_frenet_ilqr_controller/include/nav2_frenet_ilqr_controller/costs/longtitutal_velocity_cost.hpp

@@ -2,10 +2,10 @@
 #define NAV2_FRENET_ILQR_CONTROLLER__COSTS__LONGTITUTAL_VELOCITY_COST_HPP_
 
 #include <memory>
-#include "nav2_util/node_utils.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "nav2_frenet_ilqr_controller/costs/rclcpp_node_cost.hpp"
 
-using nav2_util::declare_parameter_if_not_declared;
+using nav2::declare_parameter_if_not_declared;
 using rcl_interfaces::msg::ParameterType;
 
 namespace nav2_frenet_ilqr_controller
@@ -20,7 +20,7 @@ class LongtitutalVelocityCost : public RclcppNodeCost
   LongtitutalVelocityCost();
   void initialize(
     const std::string & cost_plugin_name,
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & node,
+    const nav2::LifecycleNode::WeakPtr & node,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
   double cost(
     const FrenetTrajectory & frenet_trajectory,

nav2_frenet_ilqr_controller/include/nav2_frenet_ilqr_controller/costs/obstacle_cost.hpp

@@ -2,10 +2,10 @@
 #define NAV2_FRENET_ILQR_CONTROLLER__COSTS__OBSTACLE_COST_HPP_
 
 #include <memory>
-#include "nav2_util/node_utils.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "nav2_frenet_ilqr_controller/costs/rclcpp_node_cost.hpp"
 
-using nav2_util::declare_parameter_if_not_declared;
+using nav2::declare_parameter_if_not_declared;
 using rcl_interfaces::msg::ParameterType;
 
 namespace nav2_frenet_ilqr_controller
@@ -20,7 +20,7 @@ class ObstacleCost : public RclcppNodeCost
   ObstacleCost();
   void initialize(
     const std::string & cost_plugin_name,
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & node,
+    const nav2::LifecycleNode::WeakPtr & node,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
   double cost(
     const FrenetTrajectory & frenet_trajectory,

nav2_frenet_ilqr_controller/include/nav2_frenet_ilqr_controller/costs/rclcpp_node_cost.hpp

@@ -2,7 +2,7 @@
 #define NAV2_FRENET_ILQR_CONTROLLER__COSTS__RCLCPP_NODE_COST_HPP_
 
 #include "frenet_trajectory_planner/costs/base_cost.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 
 using namespace frenet_trajectory_planner::costs;
@@ -20,7 +20,7 @@ class RclcppNodeCost : public Cost
   : Cost() {}
   virtual void initialize(
     const std::string & cost_plugin_name,
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & node,
+    const nav2::LifecycleNode::WeakPtr & node,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
   {
     cost_plugin_name_ = cost_plugin_name;
@@ -31,7 +31,7 @@ class RclcppNodeCost : public Cost
 
 protected:
   std::string cost_plugin_name_;
-  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
+  nav2::LifecycleNode::WeakPtr node_;
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
   nav2_costmap_2d::Costmap2D * costmap_{nullptr};
 };

nav2_frenet_ilqr_controller/include/nav2_frenet_ilqr_controller/frenet_ilqr_controller.hpp

@@ -50,7 +50,7 @@ class FrenetILQRController : public nav2_core::Controller
    * @param costmap_ros Costmap2DROS object of environment
    */
   void configure(
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+    const nav2::LifecycleNode::WeakPtr & parent,
     std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
@@ -124,7 +124,7 @@ class FrenetILQRController : public nav2_core::Controller
     const nav_msgs::msg::Path & path_msg);
 
 protected:
-  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
+  nav2::LifecycleNode::WeakPtr node_;
   std::shared_ptr<tf2_ros::Buffer> tf_;
   std::string plugin_name_;
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
@@ -137,9 +137,9 @@ class FrenetILQRController : public nav2_core::Controller
   bool finished_cancelling_ = false;
   bool is_rotating_to_heading_ = false;
 
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> global_path_pub_;
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> truncated_path_pub_;
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PoseStamped>>
+  std::shared_ptr<nav2::Publisher<nav_msgs::msg::Path>> global_path_pub_;
+  std::shared_ptr<nav2::Publisher<nav_msgs::msg::Path>> truncated_path_pub_;
+  std::shared_ptr<nav2::Publisher<geometry_msgs::msg::PoseStamped>>
   robot_pose_pub_;
   std::unique_ptr<nav2_frenet_ilqr_controller::PathHandler> path_handler_;
   std::unique_ptr<nav2_frenet_ilqr_controller::ParameterHandler> parameter_handler_;

nav2_frenet_ilqr_controller/include/nav2_frenet_ilqr_controller/parameter_handler.hpp

@@ -21,11 +21,10 @@
 #include <algorithm>
 #include <mutex>
 
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "nav2_util/odometry_utils.hpp"
 #include "nav2_util/geometry_utils.hpp"
-#include "nav2_util/node_utils.hpp"
+#include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 
 #include "frenet_trajectory_planner/type_definitions.hpp"
 #include <iostream>
@@ -57,7 +56,7 @@ class ParameterHandler
    * @brief Constructor for nav2_frenet_ilqr_controller::ParameterHandler
    */
   ParameterHandler(
-    rclcpp_lifecycle::LifecycleNode::WeakPtr node, const std::string & plugin_name,
+    nav2::LifecycleNode::WeakPtr node, const std::string & plugin_name,
     const double costmap_size_x_in_meters);
 
   /**
@@ -70,7 +69,7 @@ class ParameterHandler
   Parameters * getParams() {return &params_;}
 
 protected:
-  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
+  nav2::LifecycleNode::WeakPtr node_;
   std::string plugin_name_;
   Parameters params_;
   /**

nav2_frenet_ilqr_controller/include/nav2_frenet_ilqr_controller/policies/obstacle_policy.hpp

@@ -17,7 +17,7 @@ class ObstaclePolicy : public RclcppNodePolicy
   ObstaclePolicy();
   void initialize(
     const std::string & policy_plugin_name,
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+    const nav2::LifecycleNode::WeakPtr & parent,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
   bool checkIfFeasible(
     const FrenetTrajectory & frenet_trajectory,

nav2_frenet_ilqr_controller/include/nav2_frenet_ilqr_controller/policies/rclcpp_node_policy.hpp

@@ -19,7 +19,7 @@ class RclcppNodePolicy : public Policy
   RclcppNodePolicy();
   virtual void initialize(
     const std::string & policy_plugin_name,
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+    const nav2::LifecycleNode::WeakPtr & parent,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
   {
     policy_plugin_name_ = policy_plugin_name;
@@ -32,7 +32,7 @@ class RclcppNodePolicy : public Policy
     const CartesianTrajectory & cartesian_trajectory) = 0;
 
 protected:
-  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
+  nav2::LifecycleNode::WeakPtr node_;
   std::string policy_plugin_name_;
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
   nav2_costmap_2d::Costmap2D * costmap_{nullptr};

nav2_frenet_ilqr_controller/package.xml

@@ -25,6 +25,7 @@
   <depend>tf2_ros</depend>
   <depend>frenet_trajectory_planner</depend>
   <depend>ilqr_trajectory_tracker</depend>
+  <depend>nav2_ros_common</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>

nav2_frenet_ilqr_controller/src/costs/lateral_distance_cost.cpp

@@ -12,7 +12,7 @@ LateralDistanceCost::LateralDistanceCost()
 
 void LateralDistanceCost::initialize(
   const std::string & cost_plugin_name,
-  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  const nav2::LifecycleNode::WeakPtr & parent,
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 {
   RclcppNodeCost::initialize(cost_plugin_name, parent, costmap_ros);

nav2_frenet_ilqr_controller/src/costs/longtitutal_velocity_cost.cpp

@@ -12,7 +12,7 @@ LongtitutalVelocityCost::LongtitutalVelocityCost()
 
 void LongtitutalVelocityCost::initialize(
   const std::string & cost_plugin_name,
-  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  const nav2::LifecycleNode::WeakPtr & parent,
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 {
   RclcppNodeCost::initialize(cost_plugin_name, parent, costmap_ros);

nav2_frenet_ilqr_controller/src/costs/obstacle_cost.cpp

@@ -12,7 +12,7 @@ ObstacleCost::ObstacleCost()
 
 void ObstacleCost::initialize(
   const std::string & cost_plugin_name,
-  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  const nav2::LifecycleNode::WeakPtr & parent,
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 {
   RclcppNodeCost::initialize(cost_plugin_name, parent, costmap_ros);