Move Nav2 CI to 24.04 / Rolling

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v21\
+              - "<< parameters.key >>-v22\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v21\
+              - "<< parameters.key >>-v22\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v21\
+            key: "<< parameters.key >>-v22\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -96,11 +96,6 @@ _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 +104,8 @@ _commands:
                   --ignore-src \
                   --skip-keys " \
                     slam_toolbox \
+                    turtlebot3_gazebo \
+                    gazebo_ros_pkgs \
                     " \
                   --verbose | \
                 awk '$1 ~ /^resolution\:/' | \

.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_behavior_tree/CMakeLists.txt

@@ -20,6 +20,9 @@ find_package(nav2_util REQUIRED)
 
 nav2_package()
 
+# TODO: Delete after https://github.com/BehaviorTree/BehaviorTree.CPP/issues/811 is released
+add_compile_options(-Wno-shadow)
+
 include_directories(
   include
 )

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

@@ -64,9 +64,6 @@ if(COMPILER_SUPPORTS_FMA)
   add_compile_options(-mfma)
 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_library(mppi_controller SHARED
   src/controller.cpp
   src/optimizer.cpp
@@ -77,6 +74,9 @@ add_library(mppi_controller SHARED
   src/noise_generator.cpp
 )
 
+# If building one the same hardware to be deployed on, try `-march=native`!
+target_compile_options(mppi_controller PRIVATE -O3 -finline-limit=10000000 -ffp-contract=fast -ffast-math -mtune=generic)
+
 add_library(mppi_critics SHARED
   src/critics/obstacles_critic.cpp
   src/critics/cost_critic.cpp
@@ -91,6 +91,9 @@ add_library(mppi_critics SHARED
   src/critics/velocity_deadband_critic.cpp
 )
 
+# If building one the same hardware to be deployed on, try `-march=native`!
+target_compile_options(mppi_critics PRIVATE -O3 -finline-limit=10000000 -ffp-contract=fast -ffast-math -mtune=generic)
+
 set(libraries mppi_controller mppi_critics)
 
 foreach(lib IN LISTS libraries)

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

nav2_system_tests/package.xml

@@ -26,7 +26,7 @@
   <build_depend>geometry_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>tf2_geometry_msgs</build_depend>
-  <build_depend>gazebo_ros_pkgs</build_depend>
+  <!-- <build_depend>gazebo_ros_pkgs</build_depend> -->
   <build_depend>launch_ros</build_depend>
   <build_depend>launch_testing</build_depend>
   <build_depend>nav2_planner</build_depend>
@@ -48,7 +48,7 @@
   <exec_depend>nav2_amcl</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>tf2_geometry_msgs</exec_depend>
-  <exec_depend>gazebo_ros_pkgs</exec_depend>
+  <!-- <exec_depend>gazebo_ros_pkgs</exec_depend> -->
   <exec_depend>navigation2</exec_depend>
   <exec_depend>lcov</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp

@@ -79,10 +79,10 @@ class BehaviorTreeHandler
       return false;
     }
 
-    auto xml_string = std::string(
-      std::istreambuf_iterator<char>(xml_file),
-      std::istreambuf_iterator<char>());
-
+    std::stringstream buffer;
+    buffer << xml_file.rdbuf();
+    xml_file.close();
+    std::string xml_string = buffer.str();
     // Create the blackboard that will be shared by all of the nodes in the tree
     blackboard = BT::Blackboard::create();
 

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