Move Nav2 CI to 24.04 / Rolling by tonynajjar · Pull Request #4298 · ros-navigation/navigation2

tonynajjar · 2024-05-04T22:14:31Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

Description of contribution in a few bullet points

Various fixes for Nav2 Rolling on Noble

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in navigation.ros.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

tools/underlay.repos

nav2_system_tests/CMakeLists.txt

nav2_map_server/CMakeLists.txt

nav2_common/cmake/nav2_package.cmake

.devcontainer/devcontainer.json

Dockerfile

nav2_mppi_controller/CMakeLists.txt

nav2_common/cmake/nav2_package.cmake

Dockerfile

nav2_system_tests/CMakeLists.txt

ruffsl

I'll let @SteveMacenski comment on the CMake diffs, but only a few comments on the Docker/CI bits.

.devcontainer/devcontainer.json

Dockerfile

nav2_map_server/CMakeLists.txt

Dockerfile

This reverts commit 17b434e.

mergify · 2024-05-15T14:07:32Z

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-05-15T16:12:23Z

@tonynajjar my only beef left here is the cmake changes - I don't want to remove flags for our project due to dependency issues. Do you know how many files-ish (not exact; is it a lot or a little) have a problem due to this? If small, we can do what we did with other dependencies (example):

// turn off the specific warning. Can also use "-Wall"
#pragma GCC diagnostic ignored "-Wunused-but-set-variable"

#include <boost/uuid/uuid.hpp>
#include <boost/uuid/uuid_generators.hpp>
#include <boost/uuid/uuid_io.hpp>
#include <boost/lexical_cast.hpp>

// turn the warnings back on
#pragma GCC diagnostic pop

Though, I'm not sure why -finline-limit=10000000 was removed from MPPI?

mergify · 2024-05-15T19:34:37Z

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

tonynajjar · 2024-05-15T19:36:37Z

Okay, I restored the global compile flags and disabled them only where necessary. Currently we only know that the nav2_behavior_tree error will be resolved at the next sync. I'm not sure how to resolve the ones from nav2_system_tests and nav2_mppi_controller since the error originate from third-party code.

nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp

mergify · 2024-05-15T21:06:11Z

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-05-15T23:37:25Z

At last review, this looks good to me. @ruffsl any thoughts?

Otherwise, CI is failing to build (still looks to be on Jammy?) but no more code-related concerns. I'll probably file a few tickets when we merge as reminders but nothing that I'm going to concern you with

SteveMacenski · 2024-05-23T15:50:11Z

@tonynajjar do you see the nav2_costmap_2d.DynParamTestNode test failure locally? I do not but CI is reporting it :(

tonynajjar · 2024-05-23T19:13:38Z

@tonynajjar do you see the nav2_costmap_2d.DynParamTestNode test failure locally? I do not but CI is reporting it :(

Just tried on rolling locally 10 times and I didn't get it

SteveMacenski · 2024-05-23T19:53:14Z

Maybe break the cache with v23? Or the docker image

navigation2/.circleci/config.yml

Line 488 in f671d38

- image: ghcr.io/ros-navigation/navigation2:main

?

Dockerfile

.circleci/config.yml

Dockerfile

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Fix devcontainer * fix * . * . * . * fix * pr comments * bust cache * test with docker image * Revert "test with docker image" This reverts commit 17b434e. * fixes * fixes * remove comment * Update URI for new GitHub org and GHCR repo * replace fix * replace fix * ignore maybe uninitialized error * inline comment * fix linting * Add comments * fix bt test * fix nav2 test * fix waypoint follower test * More improvements towards Jazzy migration * fix more tests * do a few more * last for the day * fix remaining BT tests * fixing last test issues * change linting image * comment out tests needing gazebo * break the cache cuz why not * fix dynamic param test * revert changes to test_bt_utils * fix dyn param * comment out turtlebot3_gazebo * test with spin_all * Update Dockerfile Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update .circleci/config.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Fix devcontainer * fix * . * . * . * fix * pr comments * bust cache * test with docker image * Revert "test with docker image" This reverts commit 17b434e. * fixes * fixes * remove comment * Update URI for new GitHub org and GHCR repo * replace fix * replace fix * ignore maybe uninitialized error * inline comment * fix linting * Add comments * fix bt test * fix nav2 test * fix waypoint follower test * More improvements towards Jazzy migration * fix more tests * do a few more * last for the day * fix remaining BT tests * fixing last test issues * change linting image * comment out tests needing gazebo * break the cache cuz why not * fix dynamic param test * revert changes to test_bt_utils * fix dyn param * comment out turtlebot3_gazebo * test with spin_all * Update Dockerfile Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update .circleci/config.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>

tonynajjar added 5 commits May 4, 2024 20:29

Fix devcontainer

16c37cb

fix

6ce2187

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fc3c5fe

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5045bd7

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40976ea

tonynajjar commented May 6, 2024

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SteveMacenski reviewed May 6, 2024

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SteveMacenski requested a review from ruffsl May 6, 2024 17:49

fix

a582494

tonynajjar commented May 6, 2024

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ruffsl reviewed May 6, 2024

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tonynajjar added 5 commits May 6, 2024 20:41

pr comments

56372f0

bust cache

481b777

test with docker image

17b434e

Revert "test with docker image"

6699cb5

This reverts commit 17b434e.

Merge branch 'ros-navigation:main' into fix-devcontainer

476050c

tonynajjar mentioned this pull request May 15, 2024

SmacPlannerHybrid creates kinematically infeasible path #4271

Closed

fixes

ffdd515

tonynajjar added 2 commits May 15, 2024 21:04

fixes

e451b1c

remove comment

f17374e

tonynajjar commented May 15, 2024

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nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp Show resolved Hide resolved

tonynajjar marked this pull request as ready for review May 15, 2024 21:06

tonynajjar changed the title ~~Attempt to solve docker image build~~ Fix building on Rolling (Ubuntu noble) May 15, 2024

tonynajjar requested a review from SteveMacenski May 15, 2024 21:07

SteveMacenski and others added 2 commits May 22, 2024 14:43

fixing last test issues

19940fb

Merge remote-tracking branch 'upstream/BR2' into fix-devcontainer

7d9aa4c

tonynajjar added 3 commits May 23, 2024 19:25

change linting image

4bc062c

comment out tests needing gazebo

f671d38

Merge remote-tracking branch 'origin/main' into fix-devcontainer

1b559a8

tonynajjar added 6 commits May 23, 2024 20:06

break the cache cuz why not

c3ecef9

fix dynamic param test

93bd849

revert changes to test_bt_utils

ffb9ea0

fix dyn param

12588f5

comment out turtlebot3_gazebo

80d5238

test with spin_all

fdd0660

SteveMacenski reviewed May 28, 2024

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SteveMacenski changed the title ~~Fix building on Rolling (Ubuntu noble)~~ Move Nav2 CI to 24.04 / Rolling May 28, 2024

SteveMacenski approved these changes May 28, 2024

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SteveMacenski added 2 commits May 28, 2024 14:53

Update Dockerfile

ffb8584

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Update .circleci/config.yml

8246c78

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

SteveMacenski merged commit 931ca9e into ros-navigation:main May 28, 2024

aosmw mentioned this pull request May 29, 2024

Feature/mw/fields2cover2 open-navigation/opennav_coverage#53

Open

SteveMacenski mentioned this pull request May 30, 2024

Possible regression in rcl preshutdown callbacks - context invalid? ros2/rclcpp#2547

Closed

This was referenced May 31, 2024

Remove old Gazebo stuff once new gazebo lands #4386

Closed

revisit nav2_behavior_tree workarounds #4387

Closed

SteveMacenski mentioned this pull request Jul 24, 2024

Switch nav2_map_server to use modern CMake idioms. #4557

Merged

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Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

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tonynajjar commented May 4, 2024 •

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