Moves changes from PR #2083 to foxy

nav2_amcl/src/amcl_node.cpp

@@ -401,7 +401,7 @@ AmclNode::checkLaserReceived()
     RCLCPP_WARN(
       get_logger(), "Laser scan has not been received"
       " (and thus no pose updates have been published)."
-      " Verify that data is being published on the %s topic.", scan_topic_);
+      " Verify that data is being published on the %s topic.", scan_topic_.c_str());
     return;
   }
 
@@ -410,7 +410,7 @@ AmclNode::checkLaserReceived()
     RCLCPP_WARN(
       get_logger(), "No laser scan received (and thus no pose updates have been published) for %f"
       " seconds.  Verify that data is being published on the %s topic.",
-      d.nanoseconds() * 1e-9, scan_topic_);
+      d.nanoseconds() * 1e-9, scan_topic_.c_str());
   }
 }
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -36,11 +36,11 @@ class BtActionNode : public BT::ActionNodeBase
     const BT::NodeConfiguration & conf)
   : BT::ActionNodeBase(xml_tag_name, conf), action_name_(action_name)
   {
-    node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+    node_ = config().blackboard->template get<rclcpp::Node::SharedPtr>("node");
 
     // Get the required items from the blackboard
     server_timeout_ =
-      config().blackboard->get<std::chrono::milliseconds>("server_timeout");
+      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
 
     // Initialize the input and output messages
@@ -245,9 +245,9 @@ class BtActionNode : public BT::ActionNodeBase
   void increment_recovery_count()
   {
     int recovery_count = 0;
-    config().blackboard->get<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template get<int>("number_recoveries", recovery_count);  // NOLINT
     recovery_count += 1;
-    config().blackboard->set<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template set<int>("number_recoveries", recovery_count);  // NOLINT
   }
 
   std::string action_name_;

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -35,11 +35,11 @@ class BtServiceNode : public BT::SyncActionNode
     const BT::NodeConfiguration & conf)
   : BT::SyncActionNode(service_node_name, conf), service_node_name_(service_node_name)
   {
-    node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+    node_ = config().blackboard->template get<rclcpp::Node::SharedPtr>("node");
 
     // Get the required items from the blackboard
     server_timeout_ =
-      config().blackboard->get<std::chrono::milliseconds>("server_timeout");
+      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
 
     // Now that we have node_ to use, create the service client for this BT service
@@ -126,9 +126,9 @@ class BtServiceNode : public BT::SyncActionNode
   void increment_recovery_count()
   {
     int recovery_count = 0;
-    config().blackboard->get<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template get<int>("number_recoveries", recovery_count);  // NOLINT
     recovery_count += 1;
-    config().blackboard->set<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template set<int>("number_recoveries", recovery_count);  // NOLINT
   }
 
   std::string service_name_, service_node_name_;

nav2_bt_navigator/src/ros_topic_logger.cpp

@@ -39,12 +39,7 @@ void RosTopicLogger::callback(
 
   // BT timestamps are a duration since the epoch. Need to convert to a time_point
   // before converting to a msg.
-#ifndef _WIN32
-  event.timestamp =
-    tf2_ros::toMsg(std::chrono::time_point<std::chrono::high_resolution_clock>(timestamp));
-#else
   event.timestamp = tf2_ros::toMsg(tf2::TimePoint(timestamp));
-#endif
   event.node_name = node.name();
   event.previous_status = toStr(prev_status, false);
   event.current_status = toStr(status, false);

nav2_costmap_2d/include/nav2_costmap_2d/observation.hpp

@@ -59,6 +59,11 @@ class Observation
     delete cloud_;
   }
 
+  /**
+    * @brief  Explicitly define copy assignment operator for Observation as it has a user-declared destructor
+    */
+  Observation & operator=(const Observation &) = default;
+
   /**
    * @brief  Creates an observation from an origin point and a point cloud
    * @param origin The origin point of the observation

nav2_recoveries/include/nav2_recoveries/recovery.hpp

@@ -107,7 +107,7 @@ class Recovery : public nav2_core::Recovery
 
     collision_checker_ = collision_checker;
 
-    vel_pub_ = node_->create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
+    vel_pub_ = node_->template create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
 
     onConfigure();
   }

nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp

@@ -229,7 +229,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
   // Find look ahead distance and point on path and publish
   const double lookahead_dist = getLookAheadDistance(speed);
   auto carrot_pose = getLookAheadPoint(lookahead_dist, transformed_plan);
-  carrot_pub_->publish(std::move(createCarrotMsg(carrot_pose)));
+  carrot_pub_->publish(createCarrotMsg(carrot_pose));
 
   double linear_vel, angular_vel;
 

nav2_util/src/dump_params.cpp

@@ -14,6 +14,7 @@
 
 #include <iomanip>
 #include <iostream>
+#include <libgen.h>
 #include <memory>
 #include <sstream>
 #include <string>

nav2_waypoint_follower/package.xml

@@ -7,8 +7,6 @@
   <maintainer email="[email protected]">Steve Macenski</maintainer>
   <license>Apache-2.0</license>
 
-  <depend>tf2_ros</depend>
-
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>nav2_common</depend>
   <depend>rclcpp</depend>
@@ -17,6 +15,7 @@
   <depend>nav_msgs</depend>
   <depend>nav2_msgs</depend>
   <depend>nav2_util</depend>
+  <depend>tf2_ros</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>

smac_planner/src/a_star.cpp

@@ -352,7 +352,7 @@ AStarAlgorithm<NodeSE2>::NodePtr AStarAlgorithm<NodeSE2>::getAnalyticPath(
   float d = node->motion_table.state_space->distance(from(), to());
   NodePtr prev(node);
   // A move of sqrt(2) is guaranteed to be in a new cell
-  constexpr float sqrt_2 = std::sqrt(2.);
+  static const float sqrt_2 = std::sqrt(2.);
   unsigned int num_intervals = std::floor(d / sqrt_2);
 
   using PossibleNode = std::pair<NodePtr, Coordinates>;