Move Nav2 CI to 24.04 / Rolling

.devcontainer/devcontainer.json

@@ -3,10 +3,11 @@
     "build": {
         "dockerfile": "../Dockerfile",
         "context": "..",
-        "target": "visualizer",
+        "target": "dever",
         "cacheFrom": "ghcr.io/ros-planning/navigation2:main"
     },
     "runArgs": [
+        "--name=nav2"
         // "--cap-add=SYS_PTRACE", // enable debugging, e.g. gdb
         // "--ipc=host", // shared memory transport with host, e.g. rviz GUIs
         // "--network=host", // network access to host interfaces, e.g. eth0

Dockerfile

@@ -57,7 +57,7 @@ RUN apt-get update && \
       ros-$ROS_DISTRO-rmw-fastrtps-cpp \
       ros-$ROS_DISTRO-rmw-connextdds \
       ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
-    && pip3 install \
+    && pip3 install --break-system-packages \
       fastcov \
       git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \
       git+https://github.com/ruffsl/colcon-clean.git@a7f1074d1ebc1a54a6508625b117974f2672f2a9 \
@@ -101,6 +101,8 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
       --from-paths src \
       --skip-keys " \
         slam_toolbox \
+        turtlebot3_gazebo \
+        gazebo_ros_pkgs \
         "\
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
@@ -145,7 +147,7 @@ RUN apt-get update && \
       bash-completion \
       gdb \
       wget && \
-    pip3 install \
+    pip3 install --break-system-packages \
       bottle \
       glances
 

nav2_common/cmake/nav2_package.cmake

@@ -37,7 +37,7 @@ macro(nav2_package)
   endif()
 
   if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+    add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC)
     add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
   endif()
 

nav2_map_server/CMakeLists.txt

@@ -15,6 +15,7 @@ find_package(std_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(nav2_util REQUIRED)
 find_package(GRAPHICSMAGICKCPP REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
 nav2_package()
 
@@ -118,7 +119,8 @@ target_include_directories(${map_io_library_name} SYSTEM PRIVATE
   ${GRAPHICSMAGICKCPP_INCLUDE_DIRS})
 
 target_link_libraries(${map_io_library_name}
-  ${GRAPHICSMAGICKCPP_LIBRARIES})
+  ${GRAPHICSMAGICKCPP_LIBRARIES}
+  yaml-cpp::yaml-cpp)
 
 if(WIN32)
   target_compile_definitions(${map_io_library_name} PRIVATE
@@ -160,5 +162,5 @@ ament_export_libraries(
   ${library_name}
   ${map_io_library_name}
 )
-ament_export_dependencies(${map_io_dependencies} ${map_server_dependencies})
+ament_export_dependencies(${map_io_dependencies} ${map_server_dependencies} yaml-cpp)
 ament_package()

nav2_mppi_controller/CMakeLists.txt

@@ -65,7 +65,7 @@ if(COMPILER_SUPPORTS_FMA)
 endif()
 
 # If building one the same hardware to be deployed on, try `-march=native`!
-add_compile_options(-O3 -finline-limit=10000000 -ffp-contract=fast -ffast-math -mtune=generic)
+add_compile_options(-O3 -ffp-contract=fast -ffast-math -mtune=generic)
 
 add_library(mppi_controller SHARED
   src/controller.cpp

nav2_system_tests/CMakeLists.txt

@@ -1,6 +1,10 @@
 cmake_minimum_required(VERSION 3.5)
 project(nav2_system_tests)
 
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 23)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -14,7 +18,7 @@ find_package(visualization_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
-find_package(gazebo_ros_pkgs REQUIRED)
+# find_package(gazebo_ros_pkgs REQUIRED)
 find_package(nav2_amcl REQUIRED)
 find_package(nav2_lifecycle_manager REQUIRED)
 find_package(rclpy REQUIRED)
@@ -37,7 +41,7 @@ set(dependencies
   nav2_amcl
   nav2_lifecycle_manager
   nav2_behavior_tree
-  gazebo_ros_pkgs
+#   gazebo_ros_pkgs
   geometry_msgs
   std_msgs
   tf2_geometry_msgs

tools/underlay.repos

@@ -35,10 +35,6 @@ repositories:
   #   type: git
   #   url:  https://github.com/cra-ros-pkg/robot_localization.git
   #   version: ros2
-  # ros-simulation/gazebo_ros_pkgs:
-  #   type: git
-  #   url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-  #   version: ros2
   # ros2/geometry2:
   #   type: git
   #   url: https://github.com/ros2/geometry2.git