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Merged
merged 7 commits into from
Aug 7, 2025
Merged

Migrate to Kilted #94

merged 7 commits into from
Aug 7, 2025

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adivardi
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Migrate the code to Kilted

@adivardi adivardi force-pushed the kilted branch 3 times, most recently from d0edf59 to da313f2 Compare July 28, 2025 10:07
@adivardi
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I don't get why it is failing, and there seems to be no kilted rolling container.
I will hopefully have time to migrate to rolling in the next few weeks. Happy to to get some help on why this is failing on rolling in the meantime.

@SteveMacenski
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It looks like nav2_util wasn't installed on the system, so it couldn't compile.

    By not providing "Findnav2_util.cmake" in CMAKE_MODULE_PATH this project
    has asked CMake to find a package configuration file provided by
    "nav2_util", but CMake did not find one.
  
    Could not find a package configuration file provided by "nav2_util" with
    any of the following names:
  
      nav2_utilConfig.cmake
      nav2_util-config.cmake

You're using a Rolling distro which doesn't have Nav2 binaries. If you want to update for Kilted, you should use a Kilted container which will be able to use rosdep to install Kilted Nav2 packages.

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I also just pushed a Kilted branch so we can also backport this into after merge in.

@adivardi
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adivardi commented Jul 29, 2025 •
edited
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I tried kilted and got this error:

 Input kilted was not a valid ROS 2 distribution for 'target-ros2-distro'. Valid values:  dashing,eloquent,foxy,galactic,humble,iron,jazzy,rolling

I will try it again now

Edit: https://github.com/open-navigation/opennav_coverage/actions/runs/16591772590/job/46928948426?pr=94

SteveMacenski
SteveMacenski reviewed Jul 29, 2025
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.github/workflows/test.yml Outdated
@@ -16,7 +16,7 @@ jobs:
strategy:
fail-fast: false
matrix:
ros_distro: [jazzy]
ros_distro: [rolling]
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Could do jazzy, kilted to run both

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done

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The test on Jazzy seems to be failing. Maybe just kilted is enough?

.github/workflows/test.yml Outdated
@@ -12,11 +12,11 @@ jobs:
ROS_DISTRO: ${{ matrix.ros_distro }}
RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
container:
image: rostooling/setup-ros-docker:ubuntu-noble-latest
image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-desktop-latest
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This image doesn't appear to exist https://github.com/orgs/ros-tooling/packages?tab=packages&q=kited

Can you file a ticket on rostooling/setup-ros-docker with that error?

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You have a typo in the search.
I found these 2 packages:
setup-ros-docker-ubuntu-noble-ros-kilted-desktop
setup-ros-docker-ubuntu-noble-ros-kilted-ros-base
https://github.com/orgs/ros-tooling/packages?packages&q=kilted

but it doesn't seem to help.

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I opened a ticket: ros-tooling/setup-ros-docker#90

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🤦

Lets see what they say!

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It's here: https://github.com/ros-tooling/setup-ros-docker/pkgs/container/setup-ros-docker%2Fsetup-ros-docker-ubuntu-noble-ros-kilted-desktop. Try:

Suggested change
image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-desktop-latest
image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-ros-kilted-desktop

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Note that images still get uploaded to Docker Hub, but that might eventually change, so I'd recommend switching to ghcr.io.

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Thanks, I needed to add :master at the end, but seems to be working now

@adivardi adivardi mentioned this pull request Aug 1, 2025
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christophebedard
christophebedard reviewed Aug 1, 2025
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@adivardi adivardi force-pushed the kilted branch 4 times, most recently from e5e58f1 to 1b536b8 Compare August 4, 2025 09:29
@adivardi adivardi changed the base branch from main to kilted August 4, 2025 09:50
@adivardi adivardi mentioned this pull request Aug 4, 2025
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@SteveMacenski
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@adivardi remove Jazzy now if this is only the kilted branch. That should let this pass and we can merge!

SteveMacenski
SteveMacenski reviewed Aug 4, 2025
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.github/workflows/lint.yml Outdated
@@ -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-kilted-desktop:master
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Is the full desktop really necessary?

.github/workflows/test.yml Outdated
@@ -12,18 +12,18 @@ 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-kilted-desktop:master
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Ditto

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adivardi commented Aug 7, 2025

all done now

@SteveMacenski SteveMacenski merged commit d6e41a2 into open-navigation:kilted Aug 7, 2025
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3 participants
@adivardi @SteveMacenski @christophebedard