Jazzy sync 3: Nov 8, 2024 (#4747)

* Adding non-charging dock support to docking server (for conveyers, pallots, etc) (#4627) * adding non-charging dock support to docking server Signed-off-by: Steve Macenski <[email protected]> * docs and linting * adding unit tests Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Publish optimal trajectory as a Path message (#4640) * Publish optimal trajectory as a Path message Signed-off-by: Alyssa Agnissan <[email protected]> * move publish_optimal_path to TrajectoryVisualizer + minor refactoring Signed-off-by: Alyssa Agnissan <[email protected]> * tests added for optimal path publication Signed-off-by: Alyssa Agnissan <[email protected]> * populate optimal path message in add() Signed-off-by: Alyssa Agnissan <[email protected]> * move path population in add_marker Signed-off-by: Alyssa Agnissan <[email protected]> --------- Signed-off-by: Alyssa Agnissan <[email protected]> * [collision monitor] Select the observation sources used with each polygon (#4227) * Collision monitor: select specific observation sources for polygon Signed-off-by: asarazin <[email protected]> * optimization Signed-off-by: asarazin <[email protected]> * add tests Signed-off-by: asarazin <[email protected]> --------- Signed-off-by: asarazin <[email protected]> Co-authored-by: asarazin <[email protected]> * Restore exported BT test utils header files after cmake revamp (#4652) (#4654) Signed-off-by: Mike Wake <[email protected]> * fix(bt_nodes): Correct default `server_timeout` behavior by using `getInputPortOrBlackboard()` (#4649) Signed-off-by: Alan Xue <[email protected]> * PoseStamped vector specialization (#4607) * PoseStamped vector specialization Signed-off-by: Tony Najjar <[email protected]> * merge master Signed-off-by: Tony Najjar <[email protected]> * add path Signed-off-by: Tony Najjar <[email protected]> * fix size check Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> * Revert "fix test" This reverts commit 51f54eb. * fix test Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * [DWB] Option to limit velocity commands in trajectory generator (#4663) * Option to limit vel cmd through traj generator Signed-off-by: huiyulhy <[email protected]> * Cleanup Signed-off-by: huiyulhy <[email protected]> * fix linting Signed-off-by: huiyulhy <[email protected]> * Update linting Signed-off-by: huiyulhy <[email protected]> * uncrustify Signed-off-by: huiyulhy <[email protected]> * uncrustify Signed-off-by: huiyulhy <[email protected]> --------- Signed-off-by: huiyulhy <[email protected]> * Adding planner server timeout for costmap waiting (#4673) * Adding planner server timeout for costmap waiting Signed-off-by: Steve Macenski <[email protected]> * Adding controller server's costmap timeout as well Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * fixing path longer on approach (#4622) * fixing path longer on approach Signed-off-by: Pradheep <[email protected]> * removing the short circuit Signed-off-by: Pradheep <[email protected]> * adding additional layer of check Signed-off-by: Pradheep <[email protected]> --------- Signed-off-by: Pradheep <[email protected]> * fix to bt action server logging before bt execution result being ready (#4677) Signed-off-by: DreamWest <[email protected]> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <[email protected]> * Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (#4698) * fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> --------- Signed-off-by: Tiwa Ojo <[email protected]> * Fixing SGF in MPPI and Smoother (#4669) Signed-off-by: Steve Macenski <[email protected]> * fix: handle transition failures in all servers (#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <[email protected]> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <[email protected]> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <[email protected]> * fix vel smoother unit tests Signed-off-by: Steve Macenski <[email protected]> * fixing docking server unit testing Signed-off-by: Steve Macenski <[email protected]> * fixing last bits Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> * [RotationShimController] fix: rotate on short paths (#4716) Add header data to goal for short paths. Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the `forward_sampling_distance`. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller. Co-authored-by: agennart <[email protected]> * Added parameter `rotate_to_heading_once` (#4721) Signed-off-by: Daniil Khaninaev <[email protected]> * [RotationShimController] fix: rotate to goal heading (#4724) Add frame_id to goal when rotating towards goal heading, otherwise the transform would fail. This bug was introduced in 30e2cde by not setting the frame_id. Signed-off-by: agennart <[email protected]> Co-authored-by: agennart <[email protected]> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <[email protected]> * [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t. This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data. In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS) Signed-off-by: Adi Vardi <[email protected]> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <[email protected]> * Use single quotes Signed-off-by: Adi Vardi <[email protected]> --------- Signed-off-by: Adi Vardi <[email protected]> * Fix incorrect doxygen comment (#4741) Signed-off-by: Ryan Friedman <[email protected]> * Updating error logging in Smac collision detector object (#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * [map_io] Replace std logs by rclcpp logs (#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <[email protected]> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * manual backport to Jazzy of 6b2e244 Signed-off-by: Steve Macenski <[email protected]> * bump to 1.3.3 for jazzy sync Signed-off-by: Steve Macenski <[email protected]> * fixing backport issue Signed-off-by: Steve Macenski <[email protected]> * fixing backport of docking linking changes Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Alyssa Agnissan <[email protected]> Signed-off-by: asarazin <[email protected]> Signed-off-by: Mike Wake <[email protected]> Signed-off-by: Alan Xue <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: huiyulhy <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: DreamWest <[email protected]> Signed-off-by: Tiwa Ojo <[email protected]> Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Daniil Khaninaev <[email protected]> Signed-off-by: agennart <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: alyquantillion <[email protected]> Co-authored-by: anaelle-sw <[email protected]> Co-authored-by: asarazin <[email protected]> Co-authored-by: aosmw <[email protected]> Co-authored-by: Alan <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Huiyu Leong <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: DreamWest <[email protected]> Co-authored-by: Tiwa Ojo <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Saitama <[email protected]> Co-authored-by: agennart <[email protected]> Co-authored-by: Daniil Khaninaev <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>
ros-navigation · Nov 8, 2024 · 3140a6a · 3140a6a
1 parent 3e3506f
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diff --git a/nav2_amcl/package.xml b/nav2_amcl/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_amcl</name>
-  <version>1.3.2</version>
+  <version>1.3.3</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt
@@ -246,6 +246,10 @@ install(DIRECTORY test/utils/
         DESTINATION include/${PROJECT_NAME}/utils/
 )
 
+install(DIRECTORY test/utils/
+  DESTINATION include/${PROJECT_NAME}/nav2_behavior_tree/test/utils
+)
+
 install(FILES nav2_tree_nodes.xml DESTINATION share/${PROJECT_NAME})
 install(FILES ${GENERATED_DIR}/plugins_list.hpp DESTINATION include/${PROJECT_NAME})
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -58,9 +58,7 @@ class BtActionNode : public BT::ActionNodeBase
     // Get the required items from the blackboard
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    getInputOrBlackboard("server_timeout", server_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -310,18 +310,18 @@ void BtActionServer<ActionT>::executeCallback()
 
   switch (rc) {
     case nav2_behavior_tree::BtStatus::SUCCEEDED:
-      RCLCPP_INFO(logger_, "Goal succeeded");
       action_server_->succeeded_current(result);
+      RCLCPP_INFO(logger_, "Goal succeeded");
       break;
 
     case nav2_behavior_tree::BtStatus::FAILED:
-      RCLCPP_ERROR(logger_, "Goal failed");
       action_server_->terminate_current(result);
+      RCLCPP_ERROR(logger_, "Goal failed");
       break;
 
     case nav2_behavior_tree::BtStatus::CANCELED:
-      RCLCPP_INFO(logger_, "Goal canceled");
       action_server_->terminate_all(result);
+      RCLCPP_INFO(logger_, "Goal canceled");
       break;
   }
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
@@ -56,9 +56,7 @@ class BtCancelActionNode : public BT::ActionNodeBase
     callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
 
     // Get the required items from the blackboard
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    getInputOrBlackboard("server_timeout", server_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -59,9 +59,7 @@ class BtServiceNode : public BT::ActionNodeBase
     // Get the required items from the blackboard
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    getInputOrBlackboard("server_timeout", server_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
@@ -17,13 +17,15 @@
 
 #include <string>
 #include <set>
+#include <vector>
 
 #include "rclcpp/time.hpp"
 #include "rclcpp/node.hpp"
 #include "behaviortree_cpp/behavior_tree.h"
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/quaternion.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav_msgs/msg/path.hpp"
 
 namespace BT
 {
@@ -102,6 +104,70 @@ inline geometry_msgs::msg::PoseStamped convertFromString(const StringView key)
   }
 }
 
+/**
+ * @brief Parse XML string to std::vector<geometry_msgs::msg::PoseStamped>
+ * @param key XML string
+ * @return std::vector<geometry_msgs::msg::PoseStamped>
+ */
+template<>
+inline std::vector<geometry_msgs::msg::PoseStamped> convertFromString(const StringView key)
+{
+  // 9 real numbers separated by semicolons
+  auto parts = BT::splitString(key, ';');
+  if (parts.size() % 9 != 0) {
+    throw std::runtime_error("invalid number of fields for std::vector<PoseStamped> attribute)");
+  } else {
+    std::vector<geometry_msgs::msg::PoseStamped> poses;
+    for (size_t i = 0; i < parts.size(); i += 9) {
+      geometry_msgs::msg::PoseStamped pose_stamped;
+      pose_stamped.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[i]));
+      pose_stamped.header.frame_id = BT::convertFromString<std::string>(parts[i + 1]);
+      pose_stamped.pose.position.x = BT::convertFromString<double>(parts[i + 2]);
+      pose_stamped.pose.position.y = BT::convertFromString<double>(parts[i + 3]);
+      pose_stamped.pose.position.z = BT::convertFromString<double>(parts[i + 4]);
+      pose_stamped.pose.orientation.x = BT::convertFromString<double>(parts[i + 5]);
+      pose_stamped.pose.orientation.y = BT::convertFromString<double>(parts[i + 6]);
+      pose_stamped.pose.orientation.z = BT::convertFromString<double>(parts[i + 7]);
+      pose_stamped.pose.orientation.w = BT::convertFromString<double>(parts[i + 8]);
+      poses.push_back(pose_stamped);
+    }
+    return poses;
+  }
+}
+
+/**
+ * @brief Parse XML string to nav_msgs::msg::Path
+ * @param key XML string
+ * @return nav_msgs::msg::Path
+ */
+template<>
+inline nav_msgs::msg::Path convertFromString(const StringView key)
+{
+  // 9 real numbers separated by semicolons
+  auto parts = BT::splitString(key, ';');
+  if ((parts.size() - 2) % 9 != 0) {
+    throw std::runtime_error("invalid number of fields for Path attribute)");
+  } else {
+    nav_msgs::msg::Path path;
+    path.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[0]));
+    path.header.frame_id = BT::convertFromString<std::string>(parts[1]);
+    for (size_t i = 2; i < parts.size(); i += 9) {
+      geometry_msgs::msg::PoseStamped pose_stamped;
+      path.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[i]));
+      pose_stamped.header.frame_id = BT::convertFromString<std::string>(parts[i + 1]);
+      pose_stamped.pose.position.x = BT::convertFromString<double>(parts[i + 2]);
+      pose_stamped.pose.position.y = BT::convertFromString<double>(parts[i + 3]);
+      pose_stamped.pose.position.z = BT::convertFromString<double>(parts[i + 4]);
+      pose_stamped.pose.orientation.x = BT::convertFromString<double>(parts[i + 5]);
+      pose_stamped.pose.orientation.y = BT::convertFromString<double>(parts[i + 6]);
+      pose_stamped.pose.orientation.z = BT::convertFromString<double>(parts[i + 7]);
+      pose_stamped.pose.orientation.w = BT::convertFromString<double>(parts[i + 8]);
+      path.poses.push_back(pose_stamped);
+    }
+    return path;
+  }
+}
+
 /**
  * @brief Parse XML string to std::chrono::milliseconds
  * @param key XML string

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp
@@ -23,6 +23,7 @@
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
 #include "behaviortree_cpp/action_node.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/...ehavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp b/...ehavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp
@@ -24,6 +24,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "tf2_ros/buffer.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/...ior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp b/...ior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp
@@ -22,6 +22,7 @@
 
 #include "behaviortree_cpp/condition_node.h"
 #include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 
 namespace nav2_behavior_tree

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp
@@ -21,6 +21,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "behaviortree_cpp/condition_node.h"
 #include "tf2_ros/buffer.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp
@@ -20,6 +20,7 @@
 
 #include "behaviortree_cpp/condition_node.h"
 #include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/...ior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp b/...ior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp
@@ -17,6 +17,7 @@
 
 #include <string>
 #include "behaviortree_cpp/behavior_tree.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/...avior_tree/include/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp b/...avior_tree/include/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp
@@ -20,6 +20,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "behaviortree_cpp/condition_node.h"
 #include "nav_msgs/msg/path.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp
@@ -23,6 +23,7 @@
 #include "tf2_ros/buffer.h"
 
 #include "behaviortree_cpp/decorator_node.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp
@@ -23,6 +23,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp
@@ -25,6 +25,7 @@
 #include "nav2_util/odometry_utils.hpp"
 
 #include "behaviortree_cpp/decorator_node.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behavior_tree</name>
-  <version>1.3.2</version>
+  <version>1.3.3</version>
   <description>Nav2 behavior tree wrappers, nodes, and utilities</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>

diff --git a/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp b/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp
@@ -20,7 +20,6 @@
 #include "nav2_util/geometry_utils.hpp"
 
 #include "nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp b/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
@@ -20,7 +20,6 @@
 #include "nav2_util/geometry_utils.hpp"
 
 #include "nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp b/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
@@ -16,7 +16,6 @@
 #include <string>
 
 #include "nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
@@ -20,7 +20,6 @@
 #include "nav2_util/node_utils.hpp"
 
 #include "nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp b/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
@@ -15,7 +15,6 @@
 #include <string>
 #include <vector>
 #include "nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp b/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp
@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include "nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/plugins/decorator/distance_controller.cpp b/nav2_behavior_tree/plugins/decorator/distance_controller.cpp
@@ -26,7 +26,6 @@
 #include "behaviortree_cpp/decorator_node.h"
 
 #include "nav2_behavior_tree/plugins/decorator/distance_controller.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp b/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp
@@ -19,7 +19,6 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "behaviortree_cpp/decorator_node.h"
 #include "nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
@@ -34,9 +34,10 @@ bool PathLongerOnApproach::isPathUpdated(
   nav_msgs::msg::Path & new_path,
   nav_msgs::msg::Path & old_path)
 {
-  return new_path != old_path && old_path.poses.size() != 0 &&
+  return old_path.poses.size() != 0 &&
          new_path.poses.size() != 0 &&
-         old_path.poses.back().pose == new_path.poses.back().pose;
+         new_path.poses.size() != old_path.poses.size() &&
+         old_path.poses.back().pose.position == new_path.poses.back().pose.position;
 }
 
 bool PathLongerOnApproach::isRobotInGoalProximity(
@@ -64,7 +65,7 @@ inline BT::NodeStatus PathLongerOnApproach::tick()
 
   if (first_time_ == false) {
     if (old_path_.poses.empty() || new_path_.poses.empty() ||
-      old_path_.poses.back() != new_path_.poses.back())
+      old_path_.poses.back().pose != new_path_.poses.back().pose)
     {
       first_time_ = true;
     }

diff --git a/nav2_behavior_tree/plugins/decorator/speed_controller.cpp b/nav2_behavior_tree/plugins/decorator/speed_controller.cpp
@@ -19,7 +19,6 @@
 #include "nav2_util/geometry_utils.hpp"
 
 #include "nav2_behavior_tree/plugins/decorator/speed_controller.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

diff --git a/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp b/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp
@@ -23,7 +23,6 @@
 
 #include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 using namespace std::chrono;  // NOLINT
 using namespace std::chrono_literals;  // NOLINT

diff --git a/nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp b/nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp
@@ -36,8 +36,6 @@ class GoalUpdatedControllerTestFixture : public nav2_behavior_tree::BehaviorTree
     poses1.push_back(goal1);
     config_->blackboard->set("goal", goal1);
     config_->blackboard->set("goals", poses1);
-    config_->input_ports["goals"] = "";
-    config_->input_ports["goal"] = "";
     bt_node_ = std::make_shared<nav2_behavior_tree::GoalUpdatedController>(
       "goal_updated_controller", *config_);
     dummy_node_ = std::make_shared<nav2_behavior_tree::DummyNode>();