Humble main compilation

.circleci/config.yml

@@ -482,7 +482,7 @@ _environments:
 executors:
   release_exec:
     docker:
-      - image: ghcr.io/ros-navigation/navigation2:main
+      - image: ghcr.io/ros-navigation/navigation2:humble
     resource_class: large
     working_directory: /opt/overlay_ws
     environment:

.devcontainer/devcontainer.json

@@ -4,7 +4,7 @@
         "dockerfile": "../Dockerfile",
         "context": "..",
         "target": "dever",
-        "cacheFrom": "ghcr.io/ros-navigation/navigation2:main"
+        "cacheFrom": "ghcr.io/ros-navigation/navigation2:humble"
     },
     "runArgs": [
         "--name=nav2"

.github/mergify.yml

@@ -26,6 +26,15 @@ pull_request_rules:
         branches:
           - humble
 
+  - name: backport to humble_main at reviewers discretion
+    conditions:
+      - base=main
+      - "label=backport-humble-main"
+    actions:
+      backport:
+        branches:
+          - humble_main
+
   - name: delete head branch after merge
     conditions:
       - merged

.github/workflows/update_ci_image.yaml

@@ -10,6 +10,7 @@ on:
       - main
       - jazzy
       - humble
+      - humble_main
     paths:
       - '**/package.xml'
       - '**/*.repos'

Dockerfile

@@ -6,7 +6,7 @@
 # docker build -t nav2:latest \
 #   --build-arg UNDERLAY_MIXINS \
 #   --build-arg OVERLAY_MIXINS ./
-ARG FROM_IMAGE=ros:rolling
+ARG FROM_IMAGE=ros:humble
 ARG UNDERLAY_WS=/opt/underlay_ws
 ARG OVERLAY_WS=/opt/overlay_ws
 

nav2_amcl/CMakeLists.txt

@@ -146,12 +146,6 @@ install(DIRECTORY include/
 )
 
 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)
-  set(ament_cmake_cpplint_FOUND TRUE)
-
-  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_export_include_directories("include/${PROJECT_NAME}")

nav2_behavior_tree/CMakeLists.txt

@@ -297,8 +297,6 @@ install(FILES nav2_tree_nodes.xml DESTINATION share/${PROJECT_NAME})
 install(FILES ${GENERATED_DIR}/plugins_list.hpp DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
 
   ament_find_gtest()

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -26,6 +26,7 @@
 
 #include "nav2_msgs/action/navigate_to_pose.hpp"
 #include "nav2_behavior_tree/bt_action_server.hpp"
+#include "nav2_util/copy_all_parameter_values.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "rcl_action/action_server.h"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
@@ -164,7 +165,7 @@ bool BtActionServer<ActionT>::on_configure()
     node, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
   nav2_util::declare_parameter_if_not_declared(
     node, "transform_tolerance", rclcpp::ParameterValue(0.1));
-  rclcpp::copy_all_parameter_values(node, client_node_);
+  nav2_util::copy_all_parameter_values(node, client_node_);
 
   // set the timeout in seconds for the action server to discard goal handles if not finished
   double action_server_result_timeout =

nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp

@@ -38,7 +38,7 @@ GoalUpdater::GoalUpdater(
   initialize();
 
     // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_all(std::chrono::milliseconds(1));
+  callback_group_executor_.spin_some();
 }
 
 void GoalUpdater::initialize()

nav2_behaviors/CMakeLists.txt

@@ -201,8 +201,6 @@ install(DIRECTORY plugins/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
   find_package(rclcpp_action REQUIRED)
 

nav2_bringup/CMakeLists.txt

@@ -14,8 +14,6 @@ install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_package()

nav2_bringup/launch/bringup_launch.py

@@ -21,7 +21,7 @@
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node, PushROSNamespace
+from launch_ros.actions import Node, PushRosNamespace
 from launch_ros.descriptions import ParameterFile
 from nav2_common.launch import RewrittenYaml
 
@@ -132,7 +132,7 @@ def generate_launch_description() -> LaunchDescription:
     # Specify the actions
     bringup_cmd_group = GroupAction(
         [
-            PushROSNamespace(namespace),
+            PushRosNamespace(namespace),
             Node(
                 condition=IfCondition(use_composition),
                 name='nav2_container',

nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -20,37 +20,24 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import (AppendEnvironmentVariable, DeclareLaunchArgument, ExecuteProcess,
-                            ForEach, GroupAction, IncludeLaunchDescription, LogInfo,
-                            OpaqueFunction, RegisterEventHandler)
+from launch.actions import (
+    AppendEnvironmentVariable,
+    DeclareLaunchArgument,
+    ExecuteProcess,
+    GroupAction,
+    IncludeLaunchDescription,
+    LogInfo,
+    OpaqueFunction,
+    RegisterEventHandler,
+)
 from launch.conditions import IfCondition
 from launch.event_handlers import OnShutdown
-from launch.launch_context import LaunchContext
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, TextSubstitution
-import yaml
+from nav2_common.launch import ParseMultiRobotPose
 
 
-def count_robots(context: LaunchContext) -> list[LogInfo]:
-    """Count the number of robots from the 'robots' launch argument."""
-    robots_str = LaunchConfiguration('robots').perform(context).strip()
-    log_msg = ''
-
-    if not robots_str:
-        log_msg = 'No robots provided in the launch argument.'
-
-    try:
-        robots_list = [yaml.safe_load(robot.strip()) for robot in
-                       robots_str.split(';') if robot.strip()]
-        log_msg = f'number_of_robots={len(robots_list)}'
-    except yaml.YAMLError as e:
-        log_msg = f'Error parsing the robots launch argument: {e}'
-
-    return [LogInfo(msg=[log_msg])]
-
-
-def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[GroupAction]:
-    """Generate the actions to launch a robot with the given name and pose."""
+def generate_robot_actions(context, *args, **kwargs):
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
     use_rviz = LaunchConfiguration('use_rviz')
@@ -61,19 +48,25 @@ def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[
     graph_filepath = LaunchConfiguration('graph')
     use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
 
+    robots_substitution = ParseMultiRobotPose(LaunchConfiguration('robots'))
+    robots_list = robots_substitution.perform(context)
+
     # Define commands for launching the navigation instances
-    group = GroupAction(
+    bringup_cmd_group = []
+    for robot_name in robots_list:
+        init_pose = robots_list[robot_name]
+        group = GroupAction(
             [
                 LogInfo(
-                    msg=['Launching namespace=', name, ' init_pose=', str(pose),]
+                    msg=['Launching namespace=', robot_name, ' init_pose=', str(init_pose), ]
                 ),
                 IncludeLaunchDescription(
                     PythonLaunchDescriptionSource(
                         os.path.join(launch_dir, 'rviz_launch.py')
                     ),
                     condition=IfCondition(use_rviz),
                     launch_arguments={
-                        'namespace': TextSubstitution(text=name),
+                        'namespace': TextSubstitution(text=robot_name),
                         'rviz_config': rviz_config_file,
                     }.items(),
                 ),
@@ -82,7 +75,7 @@ def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[
                         os.path.join(bringup_dir, 'launch', 'tb3_simulation_launch.py')
                     ),
                     launch_arguments={
-                        'namespace': name,
+                        'namespace': robot_name,
                         'map': map_yaml_file,
                         'graph': graph_filepath,
                         'use_sim_time': 'True',
@@ -92,33 +85,32 @@ def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[
                         'use_simulator': 'False',
                         'headless': 'False',
                         'use_robot_state_pub': use_robot_state_pub,
-                        'x_pose': TextSubstitution(text=str(pose.get('x', 0.0))),
-                        'y_pose': TextSubstitution(text=str(pose.get('y', 0.0))),
-                        'z_pose': TextSubstitution(text=str(pose.get('z', 0.0))),
-                        'roll': TextSubstitution(text=str(pose.get('roll', 0.0))),
-                        'pitch': TextSubstitution(text=str(pose.get('pitch', 0.0))),
-                        'yaw': TextSubstitution(text=str(pose.get('yaw', 0.0))),
-                        'robot_name': TextSubstitution(text=name),
+                        'x_pose': TextSubstitution(text=str(init_pose['x'])),
+                        'y_pose': TextSubstitution(text=str(init_pose['y'])),
+                        'z_pose': TextSubstitution(text=str(init_pose['z'])),
+                        'roll': TextSubstitution(text=str(init_pose['roll'])),
+                        'pitch': TextSubstitution(text=str(init_pose['pitch'])),
+                        'yaw': TextSubstitution(text=str(init_pose['yaw'])),
+                        'robot_name': TextSubstitution(text=robot_name),
                     }.items(),
                 ),
             ]
         )
-    return [group]
+
+        bringup_cmd_group.append(group)
+    bringup_cmd_group.append(LogInfo(msg=['number_of_robots=', str(len(robots_list))]))
+    return bringup_cmd_group
 
 
-def generate_launch_description() -> LaunchDescription:
+def generate_launch_description():
     """
     Bring up the multi-robots with given launch arguments.
 
     Launch arguments consist of robot name(which is namespace) and pose for initialization.
     Keep general yaml format for pose information.
-
-    ex) robots:='{name: 'robot1', pose: {x: 1.0, y: 1.0, yaw: 1.5707}};
-                 {name: 'robot2', pose: {x: 1.0, y: 1.0, yaw: 1.5707}}'
-    ex) robots:='{name: 'robot3', pose: {x: 1.0, y: 1.0, z: 1.0,
-                                    roll: 0.0, pitch: 1.5707, yaw: 1.5707}};
-                 {name: 'robot4', pose: {x: 1.0, y: 1.0, z: 1.0,
-                                    roll: 0.0, pitch: 1.5707, yaw: 1.5707}}'
+    ex) robots:='robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}'
+    ex) robots:='robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707};
+                 robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}'
     """
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
@@ -144,10 +136,8 @@ def generate_launch_description() -> LaunchDescription:
 
     declare_robots_cmd = DeclareLaunchArgument(
         'robots',
-        default_value=(
-            "{name: 'robot1', pose: {x: 0.5, y: 0.5, yaw: 0}};"
-            "{name: 'robot2', pose: {x: -0.5, y: -0.5, z: 0, roll: 0, pitch: 0, yaw: 1.5707}}"
-        ),
+        default_value="""robot1={x: 0.5, y: 0.5, yaw: 0};
+                   robot2={x: -0.5, y: -0.5, z: 0, roll: 0, pitch: 0, yaw: 1.5707}""",
         description='Robots and their initialization poses in YAML format',
     )
 
@@ -198,7 +188,7 @@ def generate_launch_description() -> LaunchDescription:
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
     start_gazebo_cmd = ExecuteProcess(
-        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        cmd=['ign', 'gazebo', '-r', '-s', world_sdf],
         output='screen',
     )
 
@@ -208,9 +198,9 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-        'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models'))
+        'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models'))
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(sim_dir)).parent.resolve()))
 
     # Create the launch description and populate
@@ -255,8 +245,6 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(
         LogInfo(condition=IfCondition(log_settings), msg=['autostart: ', autostart])
     )
-
-    ld.add_action(OpaqueFunction(function=count_robots))
-    ld.add_action(ForEach(LaunchConfiguration('robots'), function=generate_robot_actions))
+    ld.add_action(OpaqueFunction(function=generate_robot_actions))
 
     return ld

nav2_bringup/launch/tb3_simulation_launch.py

@@ -206,7 +206,7 @@ def generate_launch_description() -> LaunchDescription:
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
     gazebo_server = ExecuteProcess(
-        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        cmd=['ign', 'gazebo', '-r', '-s', world_sdf],
         output='screen',
         condition=IfCondition(use_simulator)
     )
@@ -224,7 +224,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             [use_simulator, ' and not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     gz_robot = IncludeLaunchDescription(