Move Nav2 CI to 24.04 / Rolling (ros-navigation#4298)

* Fix devcontainer

* fix

* .

* .

* .

* fix

* pr comments

* bust cache

* test with docker image

* Revert "test with docker image"

This reverts commit 17b434e.

* fixes

* fixes

* remove comment

* Update URI for new GitHub org and GHCR repo

* replace fix

* replace fix

* ignore maybe uninitialized error

* inline comment

* fix linting

* Add comments

* fix bt test

* fix nav2 test

* fix waypoint follower test

* More improvements towards Jazzy migration

* fix more tests

* do a few more

* last for the day

* fix remaining BT tests

* fixing last test issues

* change linting image

* comment out tests needing gazebo

* break the cache cuz why not

* fix dynamic param test

* revert changes to test_bt_utils

* fix dyn param

* comment out turtlebot3_gazebo

* test with spin_all

* Update Dockerfile

Signed-off-by: Steve Macenski <[email protected]>

* Update .circleci/config.yml

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Ruffin <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

Author: 3 people

.circleci/config.yml

@@ -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\:/' | \

Dockerfile

@@ -102,6 +102,7 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
       --from-paths src \
       --skip-keys " \
         slam_toolbox \
+        turtlebot3_gazebo \
         "\
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*

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
 )