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Add rmw zenoh to nightly ci builds #5516

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850c588
Add rmw zenoh cpp to ci
mini-1235 Sep 8, 2025
dad4a2b
Linting
mini-1235 Sep 8, 2025
dc8a2ed
Sourcing ros
mini-1235 Sep 8, 2025
044b6ec
Use spin all to avoid flaky tests
mini-1235 Sep 27, 2025
3f1350b
Merge remote-tracking branch 'origin/main' into feat/zenoh
mini-1235 Oct 18, 2025
74a001b
Merge remote-tracking branch 'origin/main' into feat/zenoh
mini-1235 Oct 23, 2025
fe020d3
Fix test
mini-1235 Oct 23, 2025
11c90c3
Fix order in AMCL
mini-1235 Oct 23, 2025
ee4e036
Use ament_add_ros_isolated
mini-1235 Oct 24, 2025
6b38c05
Use ament_add_ros_isolated
mini-1235 Oct 24, 2025
b3ccad1
retrigger ci
mini-1235 Oct 24, 2025
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3 changes: 2 additions & 1 deletion .circleci/config.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -503,7 +503,7 @@ _jobs:
type: boolean
default: false
rmw:
default: "rmw_cyclonedds_cpp"
default: "rmw_zenoh_cpp"
type: string
parallelism: 1
environment:
Expand Down Expand Up @@ -576,6 +576,7 @@ workflows:
rmw:
- rmw_cyclonedds_cpp
- rmw_fastrtps_cpp
- rmw_zenoh_cpp
triggers:
- schedule:
cron: "0 13 * * *"
Expand Down
1 change: 1 addition & 0 deletions Dockerfile
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Expand Up @@ -57,6 +57,7 @@ RUN apt-get update && \
ros-$ROS_DISTRO-rmw-fastrtps-cpp \
ros-$ROS_DISTRO-rmw-connextdds \
ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
ros-$ROS_DISTRO-rmw-zenoh-cpp \
&& pip3 install --break-system-packages \
fastcov \
git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \
Expand Down
2 changes: 1 addition & 1 deletion nav2_amcl/src/amcl_node.cpp
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Expand Up @@ -72,12 +72,12 @@ AmclNode::on_configure(const rclcpp_lifecycle::State & /*state*/)
rclcpp::CallbackGroupType::MutuallyExclusive, false);
initParameters();
initTransforms();
initOdometry();
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@SteveMacenski SteveMacenski Oct 23, 2025

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I think this needs to be after init pubsub and init services in order to be able to have last_published_pose_ be usable

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@mini-1235 mini-1235 Oct 24, 2025 •
edited
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Looking at the ros(1) code, https://github.com/ros-planning/navigation/blob/f44bb1fc2810399165115cc98b530fe4b9397c18/amcl/src/amcl_node.cpp#L793-L833, I think the init_pose_ is either [0,0,0] or [initial_pose_x,y,yaw] when set_initial_pose_ is enabled

However, I cannot find the parameters initial_cov_xx, initial_cov_yy in our code. Maybe it is removed at some point in Nav2?

So, I think

navigation2/nav2_amcl/src/amcl_node.cpp

Lines 102 to 115 in 8dbc929

if (set_initial_pose_) {
auto msg = std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>();
msg->header.stamp = now();
msg->header.frame_id = global_frame_id_;
msg->pose.pose.position.x = initial_pose_x_;
msg->pose.pose.position.y = initial_pose_y_;
msg->pose.pose.position.z = initial_pose_z_;
msg->pose.pose.orientation = orientationAroundZAxis(initial_pose_yaw_);
initialPoseReceived(msg);
} else if (init_pose_received_on_inactive) {
handleInitialPose(last_published_pose_);
}

and
initOdometry should be called before initParticleFilter

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@mini-1235 mini-1235 Oct 24, 2025

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I am not familiar with the amcl codebase, so I may have missed something. A simpler option would be initializing init_pose_ to [0,0,0] in the constructor so that there will be no garbage value when configuring amcl

initParticleFilter();
initLaserScan();
initMessageFilters();
initPubSub();
initServices();
initOdometry();
executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
executor_->add_callback_group(callback_group_, get_node_base_interface());
executor_thread_ = std::make_unique<nav2::NodeThread>(executor_);
Expand Down
1 change: 1 addition & 0 deletions nav2_behavior_tree/test/plugins/decorator/test_distance_controller.cpp
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Expand Up @@ -30,6 +30,7 @@ class DistanceControllerTestFixture : public nav2_behavior_tree::BehaviorTreeTes
public:
void SetUp()
{
node_->declare_parameter("transform_tolerance", rclcpp::ParameterValue{0.1});
config_->input_ports["distance"] = 1.0;
config_->input_ports["global_frame"] = "map";
config_->input_ports["robot_base_frame"] = "base_link";
Expand Down
1 change: 1 addition & 0 deletions nav2_costmap_2d/package.xml
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Expand Up @@ -49,6 +49,7 @@
<test_depend>ament_lint_auto</test_depend>
<test_depend>nav2_map_server</test_depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>nav2_lifecycle_manager</test_depend>
Expand Down
14 changes: 7 additions & 7 deletions nav2_costmap_2d/test/integration/CMakeLists.txt
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Expand Up @@ -72,7 +72,7 @@ target_link_libraries(test_costmap_subscriber_exec
nav2_costmap_2d_client
)

ament_add_test(test_collision_checker
ament_add_ros_isolated_test(test_collision_checker
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
Expand All @@ -92,7 +92,7 @@ ament_add_test(footprint_tests
TEST_EXECUTABLE=$<TARGET_FILE:footprint_tests_exec>
)

ament_add_test(inflation_tests
ament_add_ros_isolated_test(inflation_tests
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
Expand All @@ -102,7 +102,7 @@ ament_add_test(inflation_tests
TEST_EXECUTABLE=$<TARGET_FILE:inflation_tests_exec>
)

ament_add_test(obstacle_tests
ament_add_ros_isolated_test(obstacle_tests
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
Expand All @@ -112,7 +112,7 @@ ament_add_test(obstacle_tests
TEST_EXECUTABLE=$<TARGET_FILE:obstacle_tests_exec>
)

ament_add_test(range_tests
ament_add_ros_isolated_test(range_tests
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
Expand All @@ -122,7 +122,7 @@ ament_add_test(range_tests
TEST_EXECUTABLE=$<TARGET_FILE:range_tests_exec>
)

ament_add_test(plugin_container_tests
ament_add_ros_isolated_test(plugin_container_tests
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
Expand All @@ -133,7 +133,7 @@ ament_add_test(plugin_container_tests
STATIC_ODOM_TO_BASE_LINK=true
)

ament_add_test(test_costmap_publisher_exec
ament_add_ros_isolated_test(test_costmap_publisher_exec
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
Expand All @@ -144,7 +144,7 @@ ament_add_test(test_costmap_publisher_exec
STATIC_ODOM_TO_BASE_LINK=true
)

ament_add_test(test_costmap_subscriber_exec
ament_add_ros_isolated_test(test_costmap_subscriber_exec
GENERATE_RESULT_FOR_RETURN_CODE_ZERO
COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
Expand Down
1 change: 1 addition & 0 deletions nav2_docking/opennav_docking/package.xml
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Expand Up @@ -34,6 +34,7 @@

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_index_cpp</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
Expand Down
8 changes: 4 additions & 4 deletions nav2_docking/opennav_docking/test/CMakeLists.txt
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Expand Up @@ -170,25 +170,25 @@ target_include_directories(test_docking_server_unit
)

# Test docking server (smoke)
ament_add_pytest_test(test_docking_server_with_charging_dock test_docking_server.py
ament_add_ros_isolated_pytest_test(test_docking_server_with_charging_dock test_docking_server.py
ENV
NON_CHARGING_DOCK=False
BACKWARD=False
)

ament_add_pytest_test(test_docking_server_with_non_charging_dock test_docking_server.py
ament_add_ros_isolated_pytest_test(test_docking_server_with_non_charging_dock test_docking_server.py
ENV
NON_CHARGING_DOCK=True
BACKWARD=False
)

ament_add_pytest_test(test_docking_server_backward test_docking_server.py
ament_add_ros_isolated_pytest_test(test_docking_server_backward test_docking_server.py
ENV
NON_CHARGING_DOCK=False
BACKWARD=True
)

ament_add_pytest_test(test_docking_server_backward_blind test_docking_server.py
ament_add_ros_isolated_pytest_test(test_docking_server_backward_blind test_docking_server.py
ENV
NON_CHARGING_DOCK=False
BACKWARD_BLIND=True
Expand Down
48 changes: 22 additions & 26 deletions nav2_docking/opennav_docking/test/test_controller.cpp
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Expand Up @@ -291,8 +291,7 @@ TEST(ControllerTests, CollisionCheckerDockForward) {
node, tf, "test_base_frame", "test_base_frame");
collision_tester->configure();
collision_tester->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
auto executor_thread = std::make_unique<nav2::NodeThread>(node->get_node_base_interface());

// Set the pose of the dock at 1.75m in front of the robot
auto dock_pose = collision_tester->setPose(1.75, 0.0, 0.0);
Expand All @@ -304,23 +303,23 @@ TEST(ControllerTests, CollisionCheckerDockForward) {
// Publish an empty costmap
// It should not hit anything in an empty costmap
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, false));

// Set a dock in the costmap of 0.2x1.5m at 2m in front of the robot
// It should hit the dock because the robot is 0.5m wide and the dock pose is at 1.75
// But it does not hit because the collision tolerance is 0.3m
collision_tester->setRectangle(0.2, 1.5, 2.0, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, false));

// Set an object between the robot and the dock
// It should hit the object
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 0.2, 1.0, -0.1, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, false));

// Set the collision tolerance to 0 to ensure all obstacles in the path are detected
Expand All @@ -331,7 +330,7 @@ TEST(ControllerTests, CollisionCheckerDockForward) {
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 1.5, 2.0, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, false));

collision_tester->deactivate();
Expand All @@ -358,8 +357,7 @@ TEST(ControllerTests, CollisionCheckerDockBackward) {
node, tf, "test_base_frame", "test_base_frame");
collision_tester->configure();
collision_tester->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
auto executor_thread = std::make_unique<nav2::NodeThread>(node->get_node_base_interface());

// Set the pose of the dock at 1.75m behind the robot
auto dock_pose = collision_tester->setPose(-1.75, 0.0, 0.0);
Expand All @@ -371,23 +369,23 @@ TEST(ControllerTests, CollisionCheckerDockBackward) {
// Publish an empty costmap
// It should not hit anything in an empty costmap
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, true));

// Set a dock in the costmap of 0.2x1.5m at 2m behind the robot
// It should hit the dock because the robot is 0.5m wide and the dock pose is at -1.75
// But it does not hit because the collision tolerance is 0.3m
collision_tester->setRectangle(0.2, 1.5, -2.1, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_TRUE(controller->isTrajectoryCollisionFree(dock_pose, true, true));

// Set an object between the robot and the dock
// It should hit the object
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 0.2, -1.0, 0.0, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, true));

// Set the collision tolerance to 0 to ensure all obstacles in the path are detected
Expand All @@ -398,7 +396,7 @@ TEST(ControllerTests, CollisionCheckerDockBackward) {
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 1.5, -2.1, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(dock_pose, true, true));

collision_tester->deactivate();
Expand All @@ -425,8 +423,7 @@ TEST(ControllerTests, CollisionCheckerUndockBackward) {
node, tf, "test_base_frame", "test_base_frame");
collision_tester->configure();
collision_tester->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
auto executor_thread = std::make_unique<nav2::NodeThread>(node->get_node_base_interface());

// Set the staging pose at 1.75m behind the robot
auto staging_pose = collision_tester->setPose(-1.75, 0.0, 0.0);
Expand All @@ -438,31 +435,31 @@ TEST(ControllerTests, CollisionCheckerUndockBackward) {
// Publish an empty costmap
// It should not hit anything in an empty costmap
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, true));

// Set a dock in the costmap of 0.2x1.5m in front of the robot. The robot is docked
// It should hit the dock because the robot is 0.5m wide and the robot pose is at 1.75
// But it does not hit because the collision tolerance is 0.3m
collision_tester->setRectangle(0.2, 1.5, 0.25, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, true));

// Set an object beyond the staging pose
// It should hit the object
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 0.2, -1.75 - 0.5, -0.1, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, true));

// Set an object between the robot and the staging pose
// It should hit the object
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 0.2, -1.0, -0.1, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, true));

// Set the collision tolerance to 0 to ensure all obstacles in the path are detected
Expand All @@ -473,7 +470,7 @@ TEST(ControllerTests, CollisionCheckerUndockBackward) {
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 1.5, 0.25, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, true));

collision_tester->deactivate();
Expand All @@ -500,8 +497,7 @@ TEST(ControllerTests, CollisionCheckerUndockForward) {
node, tf, "test_base_frame", "test_base_frame");
collision_tester->configure();
collision_tester->activate();
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node->get_node_base_interface());
auto executor_thread = std::make_unique<nav2::NodeThread>(node->get_node_base_interface());

// Set the staging pose at 1.75m in the front of the robot
auto staging_pose = collision_tester->setPose(1.75, 0.0, 0.0);
Expand All @@ -513,30 +509,30 @@ TEST(ControllerTests, CollisionCheckerUndockForward) {
// Publish an empty costmap
// It should not hit anything in an empty costmap
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, false));

// Set a dock in the costmap of 0.2x1.5m at 0.5m behind the robot. The robot is docked
// It should not hit anything because the robot is docked and the trajectory is backward
collision_tester->setRectangle(0.2, 1.5, -0.35, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_TRUE(controller->isTrajectoryCollisionFree(staging_pose, false, false));

// Set an object beyond the staging pose
// It should hit the object
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 0.3, 1.75 + 0.5, 0.0, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, false));

// Set an object between the robot and the staging pose
// It should hit the object
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 0.2, 1.0, 0.0, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, false));

// Set the collision tolerance to 0 to ensure all obstacles in the path are detected
Expand All @@ -547,7 +543,7 @@ TEST(ControllerTests, CollisionCheckerUndockForward) {
collision_tester->clearCostmap();
collision_tester->setRectangle(0.2, 1.5, -0.35, -0.75, nav2_costmap_2d::LETHAL_OBSTACLE);
collision_tester->publishCostmap();
executor.spin_some();
std::this_thread::sleep_for(std::chrono::milliseconds(50));
EXPECT_FALSE(controller->isTrajectoryCollisionFree(staging_pose, false, false));

collision_tester->deactivate();
Expand Down
1 change: 1 addition & 0 deletions nav2_following/opennav_following/package.xml
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Expand Up @@ -26,6 +26,7 @@

<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_index_cpp</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
Expand Down
8 changes: 4 additions & 4 deletions nav2_following/opennav_following/test/CMakeLists.txt
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Expand Up @@ -12,22 +12,22 @@ target_link_libraries(test_following_server_unit
)

# Test following server (smoke)
ament_add_pytest_test(test_following_server_topic test_following_server.py
ament_add_ros_isolated_pytest_test(test_following_server_topic test_following_server.py
ENV
FOLLOWING_MODE=topic
)

ament_add_pytest_test(test_following_server_frame test_following_server.py
ament_add_ros_isolated_pytest_test(test_following_server_frame test_following_server.py
ENV
FOLLOWING_MODE=frame
)

ament_add_pytest_test(test_following_server_skip_pose test_following_server.py
ament_add_ros_isolated_pytest_test(test_following_server_skip_pose test_following_server.py
ENV
FOLLOWING_MODE=skip_pose
)

ament_add_pytest_test(test_following_server_search test_following_server.py
ament_add_ros_isolated_pytest_test(test_following_server_search test_following_server.py
ENV
FOLLOWING_MODE=search
)
1 change: 1 addition & 0 deletions nav2_lifecycle_manager/package.xml
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Expand Up @@ -28,6 +28,7 @@
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>rclcpp_lifecycle</test_depend>
<test_depend>ament_cmake_ros</test_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
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