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Adapt rolling pose2d deprecated (#5343)
* Fix target_link_libraries dependency on nav2_ros_common Signed-off-by: Francisco Martín Rico <[email protected]> * Update/Fix CMakeLists for last rolling changes Signed-off-by: Francisco Martín Rico <[email protected]> * Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg::Pose Signed-off-by: Francisco Martín Rico <[email protected]> * Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg::Pose Signed-off-by: Francisco Martín Rico <[email protected]> * Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg::Pose Signed-off-by: Francisco Martín Rico <[email protected]> * Use nav2_util for creating quaternions Signed-off-by: Francisco Martín Rico <[email protected]> * Use standard messages Signed-off-by: Francisco Martín Rico <[email protected]> * Minor changes from review Signed-off-by: Francisco Martín Rico <[email protected]> * Changes from review Signed-off-by: Francisco Martín Rico <[email protected]> --------- Signed-off-by: Francisco Martín Rico <[email protected]>
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‎nav2_amcl/CMakeLists.txt‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -64,12 +64,12 @@ add_library(motions_lib SHARED
6464
target_include_directories(motions_lib
6565
PUBLIC
6666
"$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
67-
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
68-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
67+
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
6968
target_link_libraries(motions_lib PUBLIC
7069
pf_lib
7170
pluginlib::pluginlib
7271
nav2_util::nav2_util_core
72+
nav2_ros_common::nav2_ros_common
7373
)
7474

7575
add_library(sensors_lib SHARED
@@ -81,11 +81,11 @@ add_library(sensors_lib SHARED
8181
target_include_directories(sensors_lib
8282
PUBLIC
8383
"$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
84-
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
85-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
84+
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
8685
target_link_libraries(sensors_lib PUBLIC
8786
pf_lib
8887
map_lib
88+
nav2_ros_common::nav2_ros_common
8989
)
9090

9191
set(executable_name amcl)
@@ -101,12 +101,12 @@ endif()
101101
target_include_directories(${library_name}
102102
PUBLIC
103103
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
104-
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
105-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
104+
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
106105
target_link_libraries(${library_name} PUBLIC
107106
${geometry_msgs_TARGETS}
108107
message_filters::message_filters
109108
nav2_util::nav2_util_core
109+
nav2_ros_common::nav2_ros_common
110110
${sensor_msgs_TARGETS}
111111
${std_srvs_TARGETS}
112112
pluginlib::pluginlib
@@ -129,10 +129,10 @@ add_executable(${executable_name}
129129
target_include_directories(${executable_name}
130130
PUBLIC
131131
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
132-
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
133-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
132+
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
134133
target_link_libraries(${executable_name} PRIVATE
135134
${library_name}
135+
nav2_ros_common::nav2_ros_common
136136
)
137137

138138
rclcpp_components_register_nodes(${library_name} "nav2_amcl::AmclNode")

‎nav2_behavior_tree/CMakeLists.txt‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -29,15 +29,15 @@ add_library(${library_name} SHARED
2929
target_include_directories(${library_name}
3030
PUBLIC
3131
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
32-
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
33-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
32+
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
3433
target_link_libraries(${library_name} PUBLIC
3534
${action_msgs_TARGETS}
3635
behaviortree_cpp::behaviortree_cpp
3736
${geometry_msgs_TARGETS}
3837
${nav_msgs_TARGETS}
3938
${nav2_msgs_TARGETS}
4039
nav2_util::nav2_util_core
40+
nav2_ros_common::nav2_ros_common
4141
rclcpp::rclcpp
4242
rclcpp_action::rclcpp_action
4343
rclcpp_lifecycle::rclcpp_lifecycle
@@ -252,8 +252,7 @@ foreach(bt_plugin ${plugin_libs})
252252
target_include_directories(${bt_plugin}
253253
PRIVATE
254254
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
255-
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
256-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
255+
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
257256
target_link_libraries(${bt_plugin} PUBLIC
258257
behaviortree_cpp::behaviortree_cpp
259258
${geometry_msgs_TARGETS}
@@ -288,9 +287,10 @@ add_executable(generate_nav2_tree_nodes_xml src/generate_nav2_tree_nodes_xml.cpp
288287
target_link_libraries(generate_nav2_tree_nodes_xml PRIVATE
289288
behaviortree_cpp::behaviortree_cpp
290289
nav2_util::nav2_util_core
290+
nav2_ros_common::nav2_ros_common
291291
)
292292
# allow generate_nav2_tree_nodes_xml to find plugins_list.hpp
293-
target_include_directories(generate_nav2_tree_nodes_xml PRIVATE ${GENERATED_DIR} "$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
293+
target_include_directories(generate_nav2_tree_nodes_xml PRIVATE ${GENERATED_DIR})
294294
install(TARGETS generate_nav2_tree_nodes_xml DESTINATION lib/${PROJECT_NAME})
295295

296296
install(DIRECTORY include/

‎nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -25,6 +25,8 @@
2525
#include "rclcpp/rclcpp.hpp"
2626
#include "tf2/LinearMath/Matrix3x3.hpp"
2727
#include "tf2/LinearMath/Quaternion.hpp"
28+
#include "tf2/utils.hpp"
29+
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
2830

2931
#include "behaviortree_cpp/bt_factory.h"
3032

‎nav2_behavior_tree/test/test_bt_utils.cpp‎

Lines changed: 16 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -58,7 +58,7 @@ TEST(PointPortTest, test_wrong_syntax)
5858

5959
BT::BehaviorTreeFactory factory;
6060
factory.registerNodeType<TestNode<geometry_msgs::msg::Point>>("PointPort");
61-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
61+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
6262

6363
xml_txt =
6464
R"(
@@ -68,7 +68,7 @@ TEST(PointPortTest, test_wrong_syntax)
6868
</BehaviorTree>
6969
</root>)";
7070

71-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
71+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
7272
}
7373

7474
TEST(PointPortTest, test_correct_syntax)
@@ -105,7 +105,7 @@ TEST(QuaternionPortTest, test_wrong_syntax)
105105
BT::BehaviorTreeFactory factory;
106106
factory.registerNodeType<TestNode<geometry_msgs::msg::Quaternion>>("QuaternionPort");
107107

108-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
108+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
109109

110110
xml_txt =
111111
R"(
@@ -115,7 +115,7 @@ TEST(QuaternionPortTest, test_wrong_syntax)
115115
</BehaviorTree>
116116
</root>)";
117117

118-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
118+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
119119
}
120120

121121
TEST(QuaternionPortTest, test_correct_syntax)
@@ -152,7 +152,7 @@ TEST(PoseStampedPortTest, test_wrong_syntax)
152152

153153
BT::BehaviorTreeFactory factory;
154154
factory.registerNodeType<TestNode<geometry_msgs::msg::PoseStamped>>("PoseStampedPort");
155-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
155+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
156156

157157
xml_txt =
158158
R"(
@@ -162,7 +162,7 @@ TEST(PoseStampedPortTest, test_wrong_syntax)
162162
</BehaviorTree>
163163
</root>)";
164164

165-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
165+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
166166
}
167167

168168
TEST(PoseStampedPortTest, test_correct_syntax)
@@ -206,7 +206,7 @@ TEST(PoseStampedVectorPortTest, test_wrong_syntax)
206206
BT::BehaviorTreeFactory factory;
207207
factory.registerNodeType<TestNode<std::vector<geometry_msgs::msg::PoseStamped>>>(
208208
"PoseStampedVectorPortTest");
209-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
209+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
210210

211211
xml_txt =
212212
R"(
@@ -216,7 +216,7 @@ TEST(PoseStampedVectorPortTest, test_wrong_syntax)
216216
</BehaviorTree>
217217
</root>)";
218218

219-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
219+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
220220
}
221221

222222
TEST(PoseStampedVectorPortTest, test_correct_syntax)
@@ -270,7 +270,7 @@ TEST(GoalsArrayPortTest, test_wrong_syntax)
270270
BT::BehaviorTreeFactory factory;
271271
factory.registerNodeType<TestNode<nav_msgs::msg::Goals>>(
272272
"GoalsArrayPortTest");
273-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
273+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
274274

275275
xml_txt =
276276
R"(
@@ -280,7 +280,7 @@ TEST(GoalsArrayPortTest, test_wrong_syntax)
280280
</BehaviorTree>
281281
</root>)";
282282

283-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
283+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
284284
}
285285

286286
TEST(GoalsArrayPortTest, test_correct_syntax)
@@ -334,7 +334,7 @@ TEST(PathPortTest, test_wrong_syntax)
334334
BT::BehaviorTreeFactory factory;
335335
factory.registerNodeType<TestNode<nav_msgs::msg::Path>>(
336336
"PathPortTest");
337-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
337+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
338338

339339
xml_txt =
340340
R"(
@@ -344,7 +344,7 @@ TEST(PathPortTest, test_wrong_syntax)
344344
</BehaviorTree>
345345
</root>)";
346346

347-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
347+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
348348
}
349349

350350
TEST(PathPortTest, test_correct_syntax)
@@ -399,7 +399,7 @@ TEST(WaypointStatusPortTest, test_wrong_syntax)
399399

400400
BT::BehaviorTreeFactory factory;
401401
factory.registerNodeType<TestNode<nav2_msgs::msg::WaypointStatus>>("WaypointStatusPort");
402-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
402+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
403403

404404
xml_txt =
405405
R"(
@@ -409,7 +409,7 @@ TEST(WaypointStatusPortTest, test_wrong_syntax)
409409
</BehaviorTree>
410410
</root>)";
411411

412-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
412+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
413413
}
414414

415415
TEST(WaypointStatusPortTest, test_correct_syntax)
@@ -455,7 +455,7 @@ TEST(WaypointStatusVectorPortTest, test_wrong_syntax) {
455455
BT::BehaviorTreeFactory factory;
456456
factory.registerNodeType<TestNode<std::vector<nav2_msgs::msg::WaypointStatus>>>(
457457
"WaypointStatusVectorPort");
458-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
458+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
459459

460460
xml_txt =
461461
R"(
@@ -465,7 +465,7 @@ TEST(WaypointStatusVectorPortTest, test_wrong_syntax) {
465465
</BehaviorTree>
466466
</root>)";
467467

468-
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
468+
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
469469
}
470470

471471
TEST(WaypointStatusVectorPortTest, test_correct_syntax)

‎nav2_behaviors/CMakeLists.txt‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,6 @@ target_include_directories(nav2_spin_behavior
3131
PUBLIC
3232
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
3333
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
34-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
3534
)
3635
target_link_libraries(nav2_spin_behavior PUBLIC
3736
${geometry_msgs_TARGETS}
@@ -40,6 +39,7 @@ target_link_libraries(nav2_spin_behavior PUBLIC
4039
nav2_costmap_2d::nav2_costmap_2d_core
4140
${nav2_msgs_TARGETS}
4241
nav2_util::nav2_util_core
42+
nav2_ros_common::nav2_ros_common
4343
rclcpp::rclcpp
4444
rclcpp_lifecycle::rclcpp_lifecycle
4545
tf2::tf2
@@ -57,14 +57,14 @@ target_include_directories(nav2_wait_behavior
5757
PUBLIC
5858
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
5959
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
60-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
6160
)
6261
target_link_libraries(nav2_wait_behavior PUBLIC
6362
${geometry_msgs_TARGETS}
6463
nav2_core::nav2_core
6564
nav2_costmap_2d::nav2_costmap_2d_core
6665
${nav2_msgs_TARGETS}
6766
nav2_util::nav2_util_core
67+
nav2_ros_common::nav2_ros_common
6868
rclcpp::rclcpp
6969
rclcpp_lifecycle::rclcpp_lifecycle
7070
tf2::tf2
@@ -78,14 +78,14 @@ target_include_directories(nav2_drive_on_heading_behavior
7878
PUBLIC
7979
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
8080
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
81-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
8281
)
8382
target_link_libraries(nav2_drive_on_heading_behavior PUBLIC
8483
${geometry_msgs_TARGETS}
8584
nav2_core::nav2_core
8685
nav2_costmap_2d::nav2_costmap_2d_core
8786
${nav2_msgs_TARGETS}
8887
nav2_util::nav2_util_core
88+
nav2_ros_common::nav2_ros_common
8989
rclcpp::rclcpp
9090
rclcpp_lifecycle::rclcpp_lifecycle
9191
tf2::tf2
@@ -102,14 +102,14 @@ target_include_directories(nav2_back_up_behavior
102102
PUBLIC
103103
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
104104
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
105-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
106105
)
107106
target_link_libraries(nav2_back_up_behavior PUBLIC
108107
${geometry_msgs_TARGETS}
109108
nav2_core::nav2_core
110109
nav2_costmap_2d::nav2_costmap_2d_core
111110
${nav2_msgs_TARGETS}
112111
nav2_util::nav2_util_core
112+
nav2_ros_common::nav2_ros_common
113113
rclcpp::rclcpp
114114
rclcpp_lifecycle::rclcpp_lifecycle
115115
tf2::tf2
@@ -126,14 +126,14 @@ target_include_directories(nav2_assisted_teleop_behavior
126126
PUBLIC
127127
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
128128
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
129-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
130129
)
131130
target_link_libraries(nav2_assisted_teleop_behavior PUBLIC
132131
${geometry_msgs_TARGETS}
133132
nav2_core::nav2_core
134133
nav2_costmap_2d::nav2_costmap_2d_core
135134
${nav2_msgs_TARGETS}
136135
nav2_util::nav2_util_core
136+
nav2_ros_common::nav2_ros_common
137137
rclcpp::rclcpp
138138
rclcpp_lifecycle::rclcpp_lifecycle
139139
${std_msgs_TARGETS}
@@ -154,13 +154,13 @@ target_include_directories(${library_name}
154154
PUBLIC
155155
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
156156
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
157-
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
158157
)
159158
target_link_libraries(${library_name} PUBLIC
160159
nav2_core::nav2_core
161160
nav2_costmap_2d::nav2_costmap_2d_client
162161
nav2_costmap_2d::nav2_costmap_2d_core
163162
nav2_util::nav2_util_core
163+
nav2_ros_common::nav2_ros_common
164164
pluginlib::pluginlib
165165
rclcpp_lifecycle::rclcpp_lifecycle
166166
tf2_ros::tf2_ros

‎nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -78,8 +78,8 @@ class AssistedTeleop : public TimedBehavior<AssistedTeleopAction>
7878
* @param twist velocity to project pose by
7979
* @param projection_time time to project by
8080
*/
81-
geometry_msgs::msg::Pose2D projectPose(
82-
const geometry_msgs::msg::Pose2D & pose,
81+
geometry_msgs::msg::Pose projectPose(
82+
const geometry_msgs::msg::Pose & pose,
8383
const geometry_msgs::msg::Twist & twist,
8484
double projection_time);
8585

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