CI Fixes Part 4 (#2219)

* fixing depricated API

* converting types on substitutions

* removing warnings from std buffer parameterization

Author: SteveMacenski

.circleci/config.yml

@@ -360,7 +360,8 @@ _environments:
     CCACHE_LOGFILE: "/tmp/ccache.log"
     CCACHE_MAXSIZE: "200M"
     MAKEFLAGS: "-j 1 -l 2"
-    RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED: "0"
+    RCUTILS_LOGGING_BUFFERED_STREAM: "0"
+    RCUTILS_LOGGING_USE_STDOUT: "0"
     RETEST_UNTIL_PASS: "2"
     DEBIAN_FRONTEND: "noninteractive"
 

nav2_common/nav2_common/launch/rewritten_yaml.py

@@ -117,7 +117,7 @@ def substitute_params(self, yaml, param_rewrites):
         for path in yaml_paths:
             if path in param_rewrites:
                 # this is an absolute path (ex. 'key.keyA.keyB.val')
-                rewrite_val = param_rewrites[path]
+                rewrite_val = self.convert(param_rewrites[path])
                 yaml_keys = path.split('.')
                 yaml = self.updateYamlPathVals(yaml, yaml_keys, rewrite_val)
 

nav2_system_tests/src/costmap_filters/test_keepout_launch.py

@@ -58,7 +58,8 @@ def generate_launch_description():
     context = LaunchContext()
     new_yaml = configured_params.perform(context)
     return LaunchDescription([
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
 
         # Launch gazebo server for simulation
         ExecuteProcess(

nav2_system_tests/src/costmap_filters/test_speed_launch.py

@@ -56,7 +56,8 @@ def generate_launch_description():
     context = LaunchContext()
     new_yaml = configured_params.perform(context)
     return LaunchDescription([
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
 
         # Launch gazebo server for simulation
         ExecuteProcess(

nav2_system_tests/src/recoveries/backup/test_backup_recovery_launch.py

@@ -47,7 +47,8 @@ def generate_launch_description():
         convert_types=True)
 
     return LaunchDescription([
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
 
         # Launch gazebo server for simulation
         ExecuteProcess(

nav2_system_tests/src/recoveries/spin/test_spin_recovery_fake_launch.py

@@ -63,7 +63,8 @@ def generate_launch_description():
                   ('/tf_static', 'tf_static')]
 
     return LaunchDescription([
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
 
         DeclareLaunchArgument(
             'namespace', default_value='',

nav2_system_tests/src/recoveries/spin/test_spin_recovery_launch.py

@@ -47,7 +47,8 @@ def generate_launch_description():
         convert_types=True)
 
     return LaunchDescription([
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
 
         # Launch gazebo server for simulation
         ExecuteProcess(

nav2_system_tests/src/recoveries/wait/test_wait_recovery_launch.py

@@ -47,7 +47,8 @@ def generate_launch_description():
         convert_types=True)
 
     return LaunchDescription([
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
 
         # Launch gazebo server for simulation
         ExecuteProcess(

nav2_system_tests/src/system/test_multi_robot_launch.py

@@ -109,7 +109,8 @@ def generate_launch_description():
         nav_instances_cmds.append(group)
 
     ld = LaunchDescription()
-    ld.add_action(SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),)
+    ld.add_action(SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),)
+    ld.add_action(SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),)
     ld.add_action(start_gazebo_cmd)
     for spawn_robot in spawn_robots_cmds:
         ld.add_action(spawn_robot)

nav2_system_tests/src/system/test_system_launch.py

@@ -67,7 +67,8 @@ def generate_launch_description():
     new_yaml = configured_params.perform(context)
 
     return LaunchDescription([
-        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
 
         # Launch gazebo server for simulation
         ExecuteProcess(