Migrate to Lyrical (rolling) (#95)

* Migrate to Kilted (#94)

* update msg for Kilted

* [opennav_coverage_bt] migrate BT xml files

* migrate coverage_navigator

* rm error_msg from ComputeCoveragePath

* use newer rostooling docker images, run test for Kilted

* run linter on Kilted

* use base image

* Migrate to Lyrical

* fix all compile errors

due to wrong includes and to methods that moved from nav2_util to nav2 namespace

* remove leftover declaration

* fix missing assignment to class members

* make Blackboard variable ID prive to the navigator

to avoid clashes between navigators

* Break long lines

* only run CI on rolling

* keep BB ID params outside navigator namespace

* Add const

* [.github] install rosdep before build

* build nav2 from source

* Update tf2 & tf2_ros headers

* Migrate nodes in tests

* depend on nav2_bt_navigator

* Also build nav2_behavior_tree

* Fix naming for nav2_path_expiring_timer_condition_bt_node

see ros-navigation/navigation2#5471

Author: adivardi

.github/deps.repos

@@ -3,3 +3,8 @@ repositories:
     type: git
     url: https://github.com/Fields2Cover/Fields2Cover.git
     version: v1.2.1-devel
+
+  navigation2:
+    type: git
+    url: https://github.com/ros-navigation/navigation2.git
+    version: main

.github/workflows/lint.yml

@@ -7,7 +7,7 @@ jobs:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-ros-rolling-ros-base:master
     strategy:
       fail-fast: false
       matrix:
@@ -17,7 +17,7 @@ jobs:
     - uses: ros-tooling/[email protected]
       with:
         linter: ${{ matrix.linter }}
-        distribution: jazzy
+        distribution: rolling
         package-name: |
             opennav_coverage
             opennav_coverage_bt

.github/workflows/test.yml

@@ -12,19 +12,20 @@ jobs:
       ROS_DISTRO: ${{ matrix.ros_distro }}
       RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
     container:
-      image: rostooling/setup-ros-docker:ubuntu-noble-latest
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-ros-rolling-ros-base:master
     strategy:
       fail-fast: false
       matrix:
-          ros_distro: [jazzy]
+          ros_distro: [rolling]
     steps:
     - uses: actions/checkout@v2
     - name: Install Cyclone DDS
       run: sudo apt install ros-${{ matrix.ros_distro }}-rmw-cyclonedds-cpp -y
     - name: Build and run tests
       id: action-ros-ci
-      uses: ros-tooling/action-ros-ci@v0.3
+      uses: ros-tooling/action-ros-ci@v0.4
       with:
+        package-name: nav2_bt_navigator nav2_behavior_tree opennav_coverage opennav_coverage_bt opennav_coverage_demo opennav_coverage_msgs opennav_coverage_navigator opennav_row_coverage
         import-token: ${{ secrets.GITHUB_TOKEN }}
         target-ros2-distro: ${{ matrix.ros_distro }}
         vcs-repo-file-url: "${{ github.workspace }}/.github/deps.repos"

README.md

@@ -20,7 +20,7 @@ This server exposes all of the features of Fields2Cover as a Lifecycle-Component
 
 - `opennav_coverage_navigator`: Contains the BT Navigator plugin exposing `NavigateCompleteCoverage` action server analog to `NavigateToPose` and `NavigateThroughPoses`.
 
-- `opennav_coverage_demo`: Contains an example launch and python node to trigger the coverage planner for a demonstration of the Navigator Plugin, Server, BT nodes, XML, and such. 
+- `opennav_coverage_demo`: Contains an example launch and python node to trigger the coverage planner for a demonstration of the Navigator Plugin, Server, BT nodes, XML, and such.
 
 Fields2Cover is a living library with new features planned to be added (for example those discussed in a [Nav2 integration ticket](https://github.com/Fields2Cover/Fields2Cover/issues/73)). As such, as new F2C capabilities are created, they will be welcome for integration here. If you see anything missing, please let us know or submit a PR to expose it!
 
@@ -61,7 +61,7 @@ The result returns a `result.nav_path` -- which is a `nav_msgs/Path` containing
 
 It also returns an error code, if any error occurred and the total planning time for metrics analysis.
 
-Note that `SwathMode` settings are to be paired with the `opennav_coverage` server with polygons, while the `RowSwathMode` settings are to be paired with the `opennav_row_coverage` server based on annotated rows. 
+Note that `SwathMode` settings are to be paired with the `opennav_coverage` server with polygons, while the `RowSwathMode` settings are to be paired with the `opennav_row_coverage` server based on annotated rows.
 
 ### NavigateCompleteCoverage
 
@@ -82,7 +82,6 @@ The complete set of options are exposed as both dynamic parameters and through t
 
 | Parameter                    | Description                                    | Type   |
 |------------------------------|------------------------------------------------|--------|
-| action_server_result_timeout | Action server result holding timeout (s)       | double |
 | coordinates_in_cartesian_frame | Whether incoming requests are in cartesian or GPS coordinates | bool |
 | robot_width  | Robots width (m)  | double |
 | operation_width  | Width of implement or task for coverage  | double |
@@ -146,7 +145,7 @@ N/A
 
 #### A Quick Note On Skipping
 
-Rows(r) and swaths(s) are numbered as such. r1, s1, r2, s2, .... rN-1, sN-1, rN. 
+Rows(r) and swaths(s) are numbered as such. r1, s1, r2, s2, .... rN-1, sN-1, rN.
 In order to skip particular rows the 'opennav_coverage_msgs/RowSwathMode' provides 'skip_ids'
 to be populated. For example, if the skip ids were set to {1, 3} for five rows the output would be the following: s2, s4.
 
@@ -156,7 +155,7 @@ As noted about `opennav_row_coverage` provides three ways to compute swaths whic
 
 The `CENTER` generator iterates through each row, calculating a center between consecutive rows.
 
-The `OFFSET` generator iterates through each row, calculating a relative offset between consecutive rows. 
+The `OFFSET` generator iterates through each row, calculating a relative offset between consecutive rows.
 
 The `SWATHSAREROWS` generator iterates through each row and uses that row as the swath.
 

opennav_coverage/include/opennav_coverage/coverage_server.hpp

@@ -21,9 +21,9 @@
 #include "fields2cover.h" // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
-#include "nav2_util/lifecycle_node.hpp"
-#include "nav2_util/node_utils.hpp"
-#include "nav2_util/simple_action_server.hpp"
+#include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/node_utils.hpp"
+#include "nav2_ros_common/simple_action_server.hpp"
 #include "opennav_coverage/headland_generator.hpp"
 #include "opennav_coverage/swath_generator.hpp"
 #include "opennav_coverage/route_generator.hpp"
@@ -37,10 +37,10 @@ namespace opennav_coverage
  * @brief An action server which implements highly reconfigurable complete
  * coverage planning using the Fields2Cover library
  */
-class CoverageServer : public nav2_util::LifecycleNode
+class CoverageServer : public nav2::LifecycleNode
 {
 public:
-  using ActionServer = nav2_util::SimpleActionServer<ComputeCoveragePath>;
+  using ActionServer = nav2::SimpleActionServer<ComputeCoveragePath>;
 
   /**
    * @brief A constructor for opennav_coverage::CoverageServer
@@ -79,35 +79,35 @@ class CoverageServer : public nav2_util::LifecycleNode
    * @param state Reference to LifeCycle node state
    * @return SUCCESS or FAILURE
    */
-  nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
+  nav2::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Activate member variables
    * @param state Reference to LifeCycle node state
    * @return SUCCESS or FAILURE
    */
-  nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
+  nav2::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Deactivate member variables
    * @param state Reference to LifeCycle node state
    * @return SUCCESS or FAILURE
    */
-  nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
+  nav2::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Reset member variables
    * @param state Reference to LifeCycle node state
    * @return SUCCESS or FAILURE
    */
-  nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
+  nav2::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Called when in shutdown state
    * @param state Reference to LifeCycle node state
    * @return SUCCESS or FAILURE
    */
-  nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
+  nav2::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Callback executed when a parameter change is detected
@@ -120,7 +120,7 @@ class CoverageServer : public nav2_util::LifecycleNode
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
   std::mutex dynamic_params_lock_;
 
-  std::unique_ptr<ActionServer> action_server_;
+  typename ActionServer::SharedPtr action_server_;
 
   std::unique_ptr<RobotParams> robot_params_;
   std::unique_ptr<HeadlandGenerator> headland_gen_;

opennav_coverage/include/opennav_coverage/headland_generator.hpp

@@ -21,8 +21,8 @@
 #include "fields2cover.h" // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
-#include "nav2_util/lifecycle_node.hpp"
-#include "nav2_util/node_utils.hpp"
+#include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "opennav_coverage_msgs/msg/headland_mode.hpp"
 #include "opennav_coverage/utils.hpp"
 #include "opennav_coverage/types.hpp"
@@ -45,13 +45,13 @@ class HeadlandGenerator
   {
     logger_ = node->get_logger();
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_headland_type", rclcpp::ParameterValue("CONSTANT"));
     std::string type_str = node->get_parameter("default_headland_type").as_string();
     default_type_ = toType(type_str);
     default_generator_ = createGenerator(default_type_);
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_headland_width", rclcpp::ParameterValue(2.0));
     default_headland_width_ = node->get_parameter("default_headland_width").as_double();
   }

opennav_coverage/include/opennav_coverage/path_generator.hpp

@@ -22,8 +22,8 @@
 #include "fields2cover.h" // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
-#include "nav2_util/lifecycle_node.hpp"
-#include "nav2_util/node_utils.hpp"
+#include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "opennav_coverage_msgs/msg/path_mode.hpp"
 #include "opennav_coverage/utils.hpp"
 #include "opennav_coverage/types.hpp"
@@ -48,17 +48,17 @@ class PathGenerator
     logger_ = node->get_logger();
     robot_params_ = robot_params;
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_path_type", rclcpp::ParameterValue("DUBIN"));
     std::string type_str = node->get_parameter("default_path_type").as_string();
     default_type_ = toType(type_str);
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_path_continuity_type", rclcpp::ParameterValue("CONTINUOUS"));
     std::string type_cont_str = node->get_parameter("default_path_continuity_type").as_string();
     default_continuity_type_ = toContinuityType(type_cont_str);
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_turn_point_distance", rclcpp::ParameterValue(0.1));
     default_turn_point_distance_ = node->get_parameter("default_turn_point_distance").as_double();
 

opennav_coverage/include/opennav_coverage/robot_params.hpp

@@ -21,8 +21,8 @@
 #include "fields2cover.h" // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
-#include "nav2_util/lifecycle_node.hpp"
-#include "nav2_util/node_utils.hpp"
+#include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "opennav_coverage/utils.hpp"
 #include "opennav_coverage/types.hpp"
 
@@ -42,19 +42,19 @@ class RobotParams
   template<typename NodeT>
   explicit RobotParams(const NodeT & node)
   {
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "robot_width", rclcpp::ParameterValue(2.1));
     robot_.robot_width = node->get_parameter("robot_width").as_double();
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "operation_width", rclcpp::ParameterValue(2.5));
     robot_.op_width = node->get_parameter("operation_width").as_double();
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "min_turning_radius", rclcpp::ParameterValue(0.4));
     robot_.setMinRadius(node->get_parameter("min_turning_radius").as_double());
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "linear_curv_change", rclcpp::ParameterValue(2.0));
     robot_.linear_curv_change = node->get_parameter("linear_curv_change").as_double();
   }

opennav_coverage/include/opennav_coverage/route_generator.hpp

@@ -21,8 +21,8 @@
 #include "fields2cover.h" // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
-#include "nav2_util/lifecycle_node.hpp"
-#include "nav2_util/node_utils.hpp"
+#include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "opennav_coverage_msgs/msg/route_mode.hpp"
 #include "opennav_coverage/utils.hpp"
 #include "opennav_coverage/types.hpp"
@@ -43,17 +43,17 @@ class RouteGenerator
   template<typename NodeT>
   explicit RouteGenerator(const NodeT & node)
   {
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_route_type", rclcpp::ParameterValue("BOUSTROPHEDON"));
     std::string type_str = node->get_parameter("default_route_type").as_string();
     default_type_ = toType(type_str);
     default_generator_ = createGenerator(default_type_);
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_spiral_n", rclcpp::ParameterValue(4));
     default_spiral_n_ = node->get_parameter("default_spiral_n").as_int();
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_custom_order", rclcpp::PARAMETER_INTEGER_ARRAY);
     try {
       // Get the custom order and cast to size_t

opennav_coverage/include/opennav_coverage/swath_generator.hpp

@@ -22,8 +22,8 @@
 #include "fields2cover.h" // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
-#include "nav2_util/lifecycle_node.hpp"
-#include "nav2_util/node_utils.hpp"
+#include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "opennav_coverage_msgs/msg/swath_mode.hpp"
 #include "opennav_coverage/utils.hpp"
 #include "opennav_coverage/types.hpp"
@@ -48,25 +48,25 @@ class SwathGenerator
     logger_ = node->get_logger();
     robot_params_ = robot_params;
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_swath_type", rclcpp::ParameterValue("LENGTH"));
     std::string type_str = node->get_parameter("default_swath_type").as_string();
     default_type_ = toType(type_str);
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_swath_angle_type", rclcpp::ParameterValue("BRUTE_FORCE"));
     std::string angle_str = node->get_parameter("default_swath_angle_type").as_string();
     default_angle_type_ = toAngleType(angle_str);
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_swath_angle", rclcpp::ParameterValue(0.0));
     default_swath_angle_ = node->get_parameter("default_swath_angle").as_double();
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_step_angle", rclcpp::ParameterValue(1.7453e-2));
     default_step_angle_ = node->get_parameter("default_step_angle").as_double();
 
-    nav2_util::declare_parameter_if_not_declared(
+    nav2::declare_parameter_if_not_declared(
       node, "default_allow_overlap", rclcpp::ParameterValue(false));
     default_allow_overlap_ = node->get_parameter("default_allow_overlap").as_bool();