Merge nav2 humble to master_umd

umdlife · Aug 5, 2022 · bc64d48 · bc64d48
1 parent efb400b
commit bc64d48
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Showing 10 changed files with 15 additions and 31 deletions.
diff --git a/debian/create_debians.sh b/debian/create_debians.sh
@@ -11,8 +11,8 @@ rosdep update &> /dev/null
 # Package list to create and install debian. 
 # Watch out the order to avoid missing dependencies while creating the debian.
 PACKAGE_LIST_UNDERLAY=(
-            BehaviorTree.CPP \
-            angles/angles
+            BehaviorTree/BehaviorTree.CPP \
+            ros/angles/angles
 )
 
 for PACKAGE in ${PACKAGE_LIST_UNDERLAY[@]}; do
@@ -21,8 +21,8 @@ for PACKAGE in ${PACKAGE_LIST_UNDERLAY[@]}; do
 
     # We have to go to the ROS package parent directory
     cd /opt/underlay_ws/src/$PACKAGE;
-    bloom-generate rosdebian --ros-distro foxy &> /dev/null
-    debian/rules "binary --parallel" &> /dev/null
+    bloom-generate rosdebian --ros-distro humble
+    debian/rules "binary --parallel --with autoreconf "
 
     cd ..
     DEB_FILE=$(find *.deb);
@@ -62,8 +62,8 @@ for PACKAGE in ${PACKAGE_LIST[@]}; do
 
     # We have to go to the ROS package parent directory
     cd $PACKAGE;
-    bloom-generate rosdebian --ros-distro foxy &> /dev/null
-    debian/rules "binary --parallel" &> /dev/null
+    bloom-generate rosdebian --ros-distro humble
+    debian/rules "binary --parallel --with autoreconf "
 
     cd ..
     DEB_FILE=$(find *.deb);

diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
@@ -71,16 +71,6 @@ if(BUILD_TESTING)
   add_subdirectory(plugins/test)
 endif()
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-
-  find_package(ament_cmake_gtest REQUIRED)
-  add_subdirectory(plugins/test)
-endif()
-
 ament_target_dependencies(${executable_name}
   ${dependencies}
 )

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
@@ -536,7 +536,7 @@ void ControllerServer::publishVelocity(const geometry_msgs::msg::TwistStamped &
 {
   // Updated(Sergi): We need TwistStamped instead of Twist because Copter HAL uses frames for TF
   if (vel_publisher_->is_activated() && vel_publisher_->get_subscription_count() > 0) {
-    vel_publisher_->publish(std::move(cmd_vel));
+    vel_publisher_->publish(velocity);
   }
 }
 

diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
@@ -19,7 +19,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>nav2_common</build_depend>
 
-  <depend>angles</depend>
   <depend>geometry_msgs</depend>
   <depend>laser_geometry</depend>
   <depend>map_msgs</depend>

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -326,8 +326,6 @@ Costmap2DROS::getParameters()
 
   auto node = shared_from_this();
 
-  auto node = shared_from_this();
-
   if (plugin_names_ == default_plugins_) {
     for (size_t i = 0; i < default_plugins_.size(); ++i) {
       nav2_util::declare_parameter_if_not_declared(

diff --git a/nav2_minimal.dockerfile b/nav2_minimal.dockerfile
@@ -6,7 +6,7 @@
 # docker build -t nav2:latest \
 #   --build-arg UNDERLAY_MIXINS \
 #   --build-arg OVERLAY_MIXINS ./
-ARG FROM_IMAGE=ros:foxy-ros-base
+ARG FROM_IMAGE=ros:humble-ros-base
 
 # multi-stage for caching
 FROM $FROM_IMAGE AS cache
@@ -109,13 +109,11 @@ ENV OVERLAY_WS /opt/overlay_ws
 WORKDIR $OVERLAY_WS/src
 
 COPY debian/create_debians.sh $OVERLAY_WS/src/create_debians.sh
-# COPY umd_mission/docker/debian/50-my-packages.list /etc/ros/rosdep/sources.list.d/50-my-packages.list
-# COPY umd_mission/docker/debian/rosdep.yaml /rosdep.yaml
 
-RUN . /opt/ros/foxy/setup.sh \
+RUN . /opt/ros/humble/setup.sh \
   && . /opt/overlay_ws/install/setup.sh \
   && . /opt/underlay_ws/install/setup.sh \
   && ./create_debians.sh \
   && rm -rf $OVERLAY_WS $UNDERLAY_WS
 
-WORKDIR /opt/ros/foxy
+WORKDIR /opt/ros/humble
diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -180,7 +180,7 @@ namespace nav2_navfn_planner
     if (!makePlan(start.pose, goal.poses[0].pose, tolerance_, path))
     {
       RCLCPP_WARN(
-          node_->get_logger(), "%s: failed to create plan with "
+          logger_, "%s: failed to create plan with "
                                "tolerance %.2f.",
           name_.c_str(), tolerance_);
     }

diff --git a/nav2_planner/include/nav2_planner/planner_server.hpp b/nav2_planner/include/nav2_planner/planner_server.hpp
@@ -117,7 +117,6 @@ class PlannerServer : public nav2_util::LifecycleNode
 
   // Our action server implements the ComputePath action
   std::unique_ptr<ActionServer> action_server_;
-  nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
   /**
    * @brief Check if an action server is valid / active

diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
@@ -136,7 +136,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State &state)
 
   // Create the action server that we implement with our navigateToPose method
   action_server_ = std::make_unique<ActionServer>(
-      rclcpp_node_,
+      node,
       "compute_path_to_pose",
       std::bind(&PlannerServer::computePlan, this));
 

diff --git a/tools/ros2_minimal_dependencies.repos b/tools/ros2_minimal_dependencies.repos
@@ -1,9 +1,9 @@
 repositories:
-  BehaviorTree.CPP:
+  BehaviorTree/BehaviorTree.CPP:
     type: git
     url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
-    version: 3.5.3
-  angles:
+    version: master
+  ros/angles:
     type: git
     url: https://github.com/ros/angles.git
     version: ros2