open-navigation · SteveMacenski · Dec 2, 2024 · Nov 5, 2024 · Nov 21, 2024 · Nov 21, 2024
diff --git a/.github/deps.repos b/.github/deps.repos
@@ -2,4 +2,4 @@ repositories:
   Fields2Cover:
     type: git
     url: https://github.com/Fields2Cover/Fields2Cover.git
-    version: main
+    version: v1.2.1-devel
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
@@ -7,7 +7,7 @@ jobs:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
     strategy:
       fail-fast: false
       matrix:
@@ -17,7 +17,7 @@ jobs:
     - uses: ros-tooling/[email protected]
       with:
         linter: ${{ matrix.linter }}
-        distribution: iron
+        distribution: jazzy
         package-name: |
             opennav_coverage
             opennav_coverage_bt

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -12,11 +12,11 @@ jobs:
       ROS_DISTRO: ${{ matrix.ros_distro }}
       RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
     container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-latest
     strategy:
       fail-fast: false
       matrix:
-          ros_distro: [iron]
+          ros_distro: [jazzy]
     steps:
     - uses: actions/checkout@v2
     - name: Install Cyclone DDS
@@ -28,7 +28,7 @@ jobs:
         import-token: ${{ secrets.GITHUB_TOKEN }}
         target-ros2-distro: ${{ matrix.ros_distro }}
         vcs-repo-file-url: "${{ github.workspace }}/.github/deps.repos"
-    - uses: actions/upload-artifact@v1
+    - uses: actions/upload-artifact@v4
       with:
         name: colcon-logs
         path: ros_ws/log
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,56 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Colcon output
+build
+log
+install
+
+# Visual Studio Code files
+.vscode
+
+# Eclipse project files
+.cproject
+.project
+.pydevproject
+
+# Python artifacts
+__pycache__/
+*.py[cod]
+.ipynb_checkpoints
+
+sphinx_doc/_build
+
+# CLion artifacts
+.idea
+cmake-build-debug/
+
+# doxygen docs
+doc/html/
diff --git a/README.md b/README.md
@@ -34,6 +34,15 @@ PS: Click on either image to see the demo videos! :-)
 
 https://github.com/user-attachments/assets/e44d8f10-c5b0-4345-81ad-25f3bcd06030
 
+### Fields2Cover Installation
+
+opennav_coverage works with Field2Cover v1.2.1. The newest version v2.0.0 is not supported at the moment.
+
+To install Fields2Cover, clone it into a colcon workspace and build with `colcon build`.
+
+- Humble & Iron: Use tag `v1.2.1`
+- Jazzy & rolling: Use branch `v1.2.1-devel`
+
 ## Interfaces
 
 The two main interfaces are `NavigateCompleteCoverage` and `ComputeCoveragePath`. The first is the action definition to request the BT Navigator's `CoverageNavigator` plugin to navigate usign a Complete Coverage task input. The latter is an analog to the `PlannerServer`'s action definition for computing Complete Coverage paths using the `opennav_coverage` action server. See `opennav_coverage_msgs` for complete details.

diff --git a/opennav_coverage/CMakeLists.txt b/opennav_coverage/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(opennav_coverage)
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
@@ -29,6 +30,7 @@ set(executable_name opennav_coverage)
 set(library_name ${executable_name}_core)
 
 set(dependencies
+  ament_index_cpp
   rclcpp
   rclcpp_action
   rclcpp_lifecycle

diff --git a/opennav_coverage/package.xml b/opennav_coverage/package.xml
@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>ament_index_cpp</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>

diff --git a/opennav_coverage/src/coverage_server.cpp b/opennav_coverage/src/coverage_server.cpp
@@ -46,7 +46,7 @@ CoverageServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
     node, "coordinates_in_cartesian_frame", rclcpp::ParameterValue(true));
   get_parameter("coordinates_in_cartesian_frame", cartesian_frame_);
 
-  double action_server_result_timeout;
+  double action_server_result_timeout = 10.0;
   nav2_util::declare_parameter_if_not_declared(
     node, "action_server_result_timeout", rclcpp::ParameterValue(10.0));
   get_parameter("action_server_result_timeout", action_server_result_timeout);

diff --git a/opennav_coverage_bt/CMakeLists.txt b/opennav_coverage_bt/CMakeLists.txt
@@ -12,7 +12,7 @@ find_package(nav2_behavior_tree REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(opennav_coverage_msgs REQUIRED)
-find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
 
 # potentially replace with nav2_common, nav2_package()
 set(CMAKE_CXX_STANDARD 17)
@@ -33,7 +33,7 @@ set(dependencies
   nav_msgs
   geometry_msgs
   opennav_coverage_msgs
-  behaviortree_cpp_v3
+  behaviortree_cpp
 )
 
 add_library(opennav_compute_complete_coverage_action_bt_node SHARED src/compute_complete_coverage_path.cpp)

diff --git a/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml b/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml
@@ -11,7 +11,7 @@
   This BT shows field file usage with the row coverage server
 -->
 
-<root main_tree_to_execute="MainTree">
+<root BTCPP_format="4" main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <RateController hz="0.0000001"> <!-- once, for demo -->
       <Sequence name="NavigateWithoutReplanning">

diff --git a/opennav_coverage_bt/include/opennav_coverage_bt/utils.hpp b/opennav_coverage_bt/include/opennav_coverage_bt/utils.hpp
@@ -16,7 +16,7 @@
 #define OPENNAV_COVERAGE_BT__UTILS_HPP_
 
 #include <charconv>
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 namespace BT
 {

diff --git a/opennav_coverage_bt/package.xml b/opennav_coverage_bt/package.xml
@@ -18,7 +18,7 @@
   <depend>nav_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>opennav_coverage_msgs</depend>
-  <depend>behaviortree_cpp_v3</depend>
+  <depend>behaviortree_cpp</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/opennav_coverage_bt/src/cancel_complete_coverage_path.cpp b/opennav_coverage_bt/src/cancel_complete_coverage_path.cpp
@@ -31,7 +31,7 @@ CoverageCancel::CoverageCancel(
 
 }  // namespace opennav_coverage_bt
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   BT::NodeBuilder builder =

diff --git a/opennav_coverage_bt/src/compute_complete_coverage_path.cpp b/opennav_coverage_bt/src/compute_complete_coverage_path.cpp
@@ -99,7 +99,7 @@ void ComputeCoveragePathAction::halt()
 
 }  // namespace opennav_coverage_bt
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   BT::NodeBuilder builder =

diff --git a/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp b/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp
@@ -17,7 +17,7 @@
 #include <set>
 #include <string>
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 #include "nav2_behavior_tree/utils/test_action_server.hpp"
 #include "opennav_coverage_bt/cancel_complete_coverage_path.hpp"
@@ -125,7 +125,7 @@ TEST_F(CancelCoverageActionTestFixture, test_ports)
 {
   std::string xml_txt =
     R"(
-      <root main_tree_to_execute = "MainTree" >
+      <root BTCPP_format="4" main_tree_to_execute="MainTree">
         <BehaviorTree ID="MainTree">
              <CancelCoverage name="CoverageCancel"/>
         </BehaviorTree>

diff --git a/opennav_coverage_bt/test/test_compute_coverage_path.cpp b/opennav_coverage_bt/test/test_compute_coverage_path.cpp
@@ -20,7 +20,7 @@
 #include "nav_msgs/msg/path.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 #include "nav2_behavior_tree/utils/test_action_server.hpp"
 #include "opennav_coverage_bt/compute_complete_coverage_path.hpp"
@@ -123,7 +123,7 @@ TEST_F(ComputeCoveragePathActionTestFixture, test_tick)
   // create tree
   std::string xml_txt =
     R"(
-      <root main_tree_to_execute = "MainTree" >
+      <root BTCPP_format="4" main_tree_to_execute="MainTree">
         <BehaviorTree ID="MainTree">
             <ComputeCoveragePath nav_path="{path}"/>
         </BehaviorTree>
@@ -141,13 +141,13 @@ TEST_F(ComputeCoveragePathActionTestFixture, test_tick)
 
   // check if returned path is correct
   nav_msgs::msg::Path path;
-  config_->blackboard->get<nav_msgs::msg::Path>("path", path);
+  [[maybe_unused]] auto res = config_->blackboard->get<nav_msgs::msg::Path>("path", path);
   EXPECT_EQ(path.poses.size(), 2u);
   EXPECT_EQ(path.poses[0].pose.position.x, 0.0);
   EXPECT_EQ(path.poses[1].pose.position.x, 1.0);
 
   // halt node so another goal can be sent
-  tree_->rootNode()->halt();
+  tree_->haltTree();
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
 }
 
@@ -169,7 +169,7 @@ int main(int argc, char ** argv)
   int all_successful = RUN_ALL_TESTS();
 
   // shutdown ROS
-  // rclcpp::shutdown();
+  rclcpp::shutdown();
   server_thread.join();
 
   return all_successful;