Update tf2 ros headers

[mini-1235]

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Description of contribution in a few bullet points

related to ros2/geometry2#805, waiting for ros/rosdistro#46952 and a new release for rviz2 before this can be merged

Description of documentation updates required from your changes

Description of how this change was tested

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

[mergify]

@mini-1235, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

@mini-1235 this doesn't seem to build on Rolling (nor then would I expect Jazzy or Kilted)

[mini-1235]

@mini-1235 this doesn't seem to build on Rolling (nor then would I expect Jazzy or Kilted)

Yeah, the new binaries for geometry2 and rviz2 are not out yet, so the CI is complaining.

In my workspace, I have geometry2 built from source, and it is showing deprecated warnings, so I raise this PR

For Jazzy and kilted, we need to wait the original PR ros2/geometry2#805 to be backported

[SteveMacenski]

Got it - I suppose this can wait until those binaries are up to date.

However, there's something you could do right now to make that easier. This doesn't work on Jazzy or Kilted unless those header changes are reflected in those distributions as well. You may want to right now have the preprocessor conditions for which to include so that we don't break Jazzy and Kilted (and something you can do now so those are green).

Given the scope of this, maybe we should consider having a (more than one?) header file in nav2_ros_common for TF that includes all the key TF packages & does the preprocessor condition for ROS 2 distribution there to remove the boilerplate across 88 files. If they're all part of the same targets, then including addition headers than needed should be OK since we're not linking against other libraries.

[mini-1235]

I think the maintainer mentioned that the changes can be backported to Kilted/Jazzy ros2/geometry2#805 (comment), there is a pending PR here that is targeting to Jazzy ros2/geometry2#807, so I think we do not need those preprocessor conditions(?)

[SteveMacenski]

Yes, though we'd also need a backport for Kilted as well (and have them both merged and released)

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
nav2_amcl/src/amcl_node.cpp	66.76% <ø> (ø)
...tree/plugins/action/truncate_path_local_action.hpp	100.00% <ø> (ø)
...ree/plugins/condition/are_poses_near_condition.hpp	100.00% <ø> (ø)
.../plugins/condition/distance_traveled_condition.hpp	100.00% <ø> (ø)
..._tree/plugins/condition/goal_reached_condition.hpp	100.00% <ø> (ø)
...lugins/condition/transform_available_condition.hpp	100.00% <ø> (ø)
...ior_tree/plugins/decorator/distance_controller.hpp	100.00% <ø> (ø)
...ee/include/nav2_behavior_tree/ros_topic_logger.hpp	100.00% <ø> (ø)
...tree/plugins/action/truncate_path_local_action.cpp	100.00% <ø> (ø)
...lugins/condition/transform_available_condition.cpp	92.00% <ø> (ø)
... and 29 more

... and 3 files with indirect coverage changes

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[mini-1235]

I think binaries for rolling have been released, but Jazzy&Kilted haven't

[SteveMacenski]

Got it - stay tuned on the Discourse release announcements and we can retrigger those jobs. Happy to merge once passing!

[doisyg]

(fyi this seems to break building main under Jazzy)

[SteveMacenski]

I am aware, unfortunately the trade off was Rolling not building or Jazzy. For main I think Jazzy needs to be deprioritized, but there's a TF release / sync coming soon (ish) that should restate it. Its a temporary state of affairs

[doisyg]

That's totally fine!
(If we keep the compatibility of main with the last ros2 non-rolling version, aka Kilted, that's already a massive helper)

[SteveMacenski]

It is / will be again once it has a sync to get the TF updates. Honestly, it would be nice if all the ROS distros synced on the same day or at least week for mass updates like this

[doisyg]

Definitely!