Humble main branch sync with main: June 16

.devcontainer/devcontainer.json

@@ -14,6 +14,8 @@
         // "--pid=host", // DDS discovery with host, without --network=host
         // "--privileged", // device access to host peripherals, e.g. USB
         // "--security-opt=seccomp=unconfined", // enable debugging, e.g. gdb
+        // "--volume=/tmp/.X11-unix:/tmp/.X11-unix", // X11 socket for GUI applications
+        // "--gpus=all" // access to all GPUs, e.g. for GPU-accelerated applications
     ],
     "workspaceFolder": "/opt/overlay_ws/src/navigation2",
     "workspaceMount": "source=${localWorkspaceFolder},target=${containerWorkspaceFolder},type=bind",
@@ -23,6 +25,8 @@
     "remoteEnv": {
         "OVERLAY_MIXINS": "release ccache lld",
         "CCACHE_DIR": "/tmp/.ccache"
+        // "QT_X11_NO_MITSHM": "1", // disable MIT-SHM for X11 forwarding
+        // "DISPLAY": "${localEnv:DISPLAY}", // X11 forwarding
     },
     "mounts": [
         {

.github/mergify.yml

@@ -8,14 +8,14 @@ pull_request_rules:
         branches:
           - jazzy
 
-  - name: backport to iron at reviewers discretion
+  - name: backport to humble-main at reviewers discretion
     conditions:
       - base=main
-      - "label=backport-iron"
+      - "label=backport-humble-main"
     actions:
       backport:
         branches:
-          - iron
+          - humble_main
 
   - name: backport to humble at reviewers discretion
     conditions:
@@ -26,14 +26,14 @@ pull_request_rules:
         branches:
           - humble
 
-  - name: backport to humble_main at reviewers discretion
+  - name: backport to kilted at reviewers discretion
     conditions:
       - base=main
-      - "label=backport-humble-main"
+      - "label=backport-kilted"
     actions:
       backport:
         branches:
-          - humble_main
+          - kilted
 
   - name: delete head branch after merge
     conditions:

.github/workflows/build_main_against_distros.yml

@@ -0,0 +1,49 @@
+name: Build Against Released Distributions
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build-docker:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [jazzy, kilted]
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+
+    - name: Set up Docker build context
+      run: |
+        mkdir -p /tmp/docker_context/ws/src
+        cp -r . /tmp/docker_context/ws/src
+        echo 'FROM ghcr.io/ros-navigation/nav2_docker:${{ matrix.ros_distro }}-nightly
+
+        RUN apt-get update && apt-get install -y \
+          python3-pip \
+          python3-colcon-common-extensions \
+          python3-vcstool \
+          git \
+          curl \
+          && rm -rf /var/lib/apt/lists/*
+
+        WORKDIR /root/ws
+
+        COPY ws /root/ws
+
+        RUN apt-get update && rosdep update && \
+          rosdep install --from-paths src --ignore-src -r -y \
+          --skip-keys=slam_toolbox
+
+        RUN . /opt/ros/${{ matrix.ros_distro }}/setup.sh && colcon build --packages-skip nav2_system_tests nav2_bringup nav2_simple_commander nav2_loopback_sim navigation2' > /tmp/docker_context/Dockerfile
+
+
+    - name: Build Docker image
+      run: |
+        docker build -t nav2-${{ matrix.ros_distro }}-main-compatibility /tmp/docker_context

.github/workflows/update_ci_image.yaml

@@ -8,6 +8,7 @@ on:
   push:
     branches:
       - main
+      - kilted
       - jazzy
       - humble
       - humble_main

.gitignore

@@ -45,6 +45,7 @@ install
 __pycache__/
 *.py[cod]
 .ipynb_checkpoints
+.pytest_cache/
 
 sphinx_doc/_build
 

nav2_amcl/include/nav2_amcl/amcl_node.hpp

@@ -29,6 +29,7 @@
 #include <vector>
 
 #include "message_filters/subscriber.hpp"
+#include "rclcpp/version.h"
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/lifecycle_node.hpp"
@@ -171,8 +172,14 @@ class AmclNode : public nav2_util::LifecycleNode
    * @brief Initialize incoming data message subscribers and filters
    */
   void initMessageFilters();
+
+  // To Support Kilted and Older from Message Filters API change
+  #if RCLCPP_VERSION_GTE(29, 6, 0)
+  std::unique_ptr<message_filters::Subscriber<sensor_msgs::msg::LaserScan>> laser_scan_sub_;
+  #else
   std::unique_ptr<message_filters::Subscriber<sensor_msgs::msg::LaserScan,
     rclcpp_lifecycle::LifecycleNode>> laser_scan_sub_;
+  #endif
   std::unique_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>> laser_scan_filter_;
   message_filters::Connection laser_scan_connection_;
 

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>1.3.1</version>
+  <version>1.4.0</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

nav2_amcl/src/amcl_node.cpp

@@ -1182,6 +1182,9 @@ AmclNode::dynamicParametersCallback(
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();
     const auto & param_name = parameter.get_name();
+    if (param_name.find('.') != std::string::npos) {
+      continue;
+    }
 
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
       if (param_name == "alpha1") {
@@ -1520,9 +1523,15 @@ AmclNode::initMessageFilters()
 {
   auto sub_opt = rclcpp::SubscriptionOptions();
   sub_opt.callback_group = callback_group_;
+
+  #if RCLCPP_VERSION_GTE(29, 6, 0)
+  laser_scan_sub_ = std::make_unique<message_filters::Subscriber<sensor_msgs::msg::LaserScan>>(
+    shared_from_this(), scan_topic_, rclcpp::SensorDataQoS(), sub_opt);
+  #else
   laser_scan_sub_ = std::make_unique<message_filters::Subscriber<sensor_msgs::msg::LaserScan,
       rclcpp_lifecycle::LifecycleNode>>(
     shared_from_this(), scan_topic_, rmw_qos_profile_sensor_data, sub_opt);
+  #endif
 
   laser_scan_filter_ = std::make_unique<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>(
     *laser_scan_sub_, *tf_buffer_, odom_frame_id_, 10,

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -187,6 +187,15 @@ class BtActionNode : public BT::ActionNodeBase
     return BT::NodeStatus::SUCCESS;
   }
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  virtual void on_timeout()
+  {
+    return;
+  }
+
   /**
    * @brief The main override required by a BT action
    * @return BT::NodeStatus Status of tick execution
@@ -231,6 +240,7 @@ class BtActionNode : public BT::ActionNodeBase
             "Timed out while waiting for action server to acknowledge goal request for %s",
             action_name_.c_str());
           future_goal_handle_.reset();
+          on_timeout();
           return BT::NodeStatus::FAILURE;
         }
       }
@@ -261,6 +271,7 @@ class BtActionNode : public BT::ActionNodeBase
               "Timed out while waiting for action server to acknowledge goal request for %s",
               action_name_.c_str());
             future_goal_handle_.reset();
+            on_timeout();
             return BT::NodeStatus::FAILURE;
           }
         }

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp

@@ -66,6 +66,12 @@ class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTele
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to read parameters and initialize class variables
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp

@@ -66,6 +66,12 @@ class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to read parameters and initialize class variables
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp

@@ -64,6 +64,12 @@ class ComputeAndTrackRouteAction : public BtActionNode<nav2_msgs::action::Comput
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to perform some user-defined operation after a timeout
    * waiting for a result that hasn't been received yet

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp

@@ -69,6 +69,12 @@ class ComputePathThroughPosesAction
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * \brief Override required by the a BT action. Cancel the action and set the path output
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp

@@ -66,6 +66,12 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * \brief Override required by the a BT action. Cancel the action and set the path output
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_route_action.hpp

@@ -64,6 +64,12 @@ class ComputeRouteAction : public BtActionNode<nav2_msgs::action::ComputeRoute>
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * \brief Override required by the a BT action. Cancel the action and set the path output
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp

@@ -88,6 +88,12 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
    * @brief Function to perform some user-defined operation upon cancellation of the action
    */
   BT::NodeStatus on_cancelled() override;
+
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
 };
 
 }  // namespace nav2_behavior_tree

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp

@@ -66,6 +66,12 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to perform some user-defined operation after a timeout
    * waiting for a result that hasn't been received yet

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp

@@ -67,6 +67,12 @@ class NavigateThroughPosesAction : public BtActionNode<nav2_msgs::action::Naviga
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp

@@ -67,6 +67,12 @@ class NavigateToPoseAction : public BtActionNode<nav2_msgs::action::NavigateToPo
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp

@@ -65,6 +65,12 @@ class SmoothPathAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::acti
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp

@@ -50,6 +50,12 @@ class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
    */
   void on_tick() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to read parameters and initialize class variables
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp

@@ -50,6 +50,12 @@ class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
    */
   void on_tick() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to read parameters and initialize class variables
    */

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>1.3.1</version>
+  <version>1.4.0</version>
   <description>Nav2 behavior tree wrappers, nodes, and utilities</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>