Humble backport fixes

.devcontainer/devcontainer.json

@@ -4,7 +4,7 @@
         "dockerfile": "../Dockerfile",
         "context": "..",
         "target": "visualizer",
-        "cacheFrom": "ghcr.io/ros-planning/navigation2:humble"
+        "cacheFrom": "ghcr.io/ros-navigation/navigation2:humble"
     },
     "runArgs": [
         // "--cap-add=SYS_PTRACE", // enable debugging, e.g. gdb

Dockerfile

@@ -219,7 +219,7 @@ COPY --from=caddyer /usr/bin/caddy /usr/bin/caddy
 
 # download media files
 RUN mkdir -p $ROOT_SRV/media && cd /tmp && \
-    export ICONS="icons.tar.gz" && wget https://github.com/ros-planning/navigation2/files/11506823/$ICONS && \
+    export ICONS="icons.tar.gz" && wget https://github.com/ros-navigation/navigation2/files/11506823/$ICONS && \
     echo "cae5e2a5230f87b004c8232b579781edb4a72a7431405381403c6f9e9f5f7d41 $ICONS" | sha256sum -c && \
     tar xvz -C $ROOT_SRV/media -f $ICONS && rm $ICONS
 

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

@@ -16,6 +16,7 @@
 #define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__NAVIGATE_THROUGH_POSES_ACTION_HPP_
 
 #include <string>
+#include <vector>
 
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/quaternion.hpp"
@@ -55,7 +56,8 @@ class NavigateThroughPosesAction : public BtActionNode<nav2_msgs::action::Naviga
   {
     return providedBasicPorts(
       {
-        BT::InputPort<geometry_msgs::msg::PoseStamped>("goals", "Destinations to plan through"),
+        BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+          "goals", "Destinations to plan through"),
         BT::InputPort<std::string>("behavior_tree", "Behavior tree to run"),
       });
   }

nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp

@@ -24,13 +24,25 @@
 using namespace std::chrono;  // NOLINT
 using namespace std::chrono_literals;  // NOLINT
 
+// Shim BT node to access protected resetStatus method
+class ShimNode : public nav2_behavior_tree::SingleTrigger
+{
+public:
+  ShimNode(
+    const std::string & name,
+    const BT::NodeConfiguration & confi)
+  : SingleTrigger(name, confi)
+  {}
+  ~ShimNode() {}
+  void changeStatus() {resetStatus();}
+};
+
 class SingleTriggerTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixture
 {
 public:
   void SetUp()
   {
-    bt_node_ = std::make_shared<nav2_behavior_tree::SingleTrigger>(
-      "single_trigger", *config_);
+    bt_node_ = std::make_shared<ShimNode>("single_trigger", *config_);
     dummy_node_ = std::make_shared<nav2_behavior_tree::DummyNode>();
     bt_node_->setChild(dummy_node_.get());
   }
@@ -42,11 +54,11 @@ class SingleTriggerTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixt
   }
 
 protected:
-  static std::shared_ptr<nav2_behavior_tree::SingleTrigger> bt_node_;
+  static std::shared_ptr<ShimNode> bt_node_;
   static std::shared_ptr<nav2_behavior_tree::DummyNode> dummy_node_;
 };
 
-std::shared_ptr<nav2_behavior_tree::SingleTrigger>
+std::shared_ptr<ShimNode>
 SingleTriggerTestFixture::bt_node_ = nullptr;
 std::shared_ptr<nav2_behavior_tree::DummyNode>
 SingleTriggerTestFixture::dummy_node_ = nullptr;
@@ -71,6 +83,7 @@ TEST_F(SingleTriggerTestFixture, test_behavior)
   // halt BT for a new execution run, should work when dummy node is running
   // and once when dummy node returns success and then fail
   bt_node_->halt();
+  bt_node_->changeStatus();  // BTv3.8+ doesn't reset root node automatically
   dummy_node_->changeStatus(BT::NodeStatus::RUNNING);
   EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::RUNNING);
   dummy_node_->changeStatus(BT::NodeStatus::SUCCESS);

nav2_mppi_controller/test/utils_test.cpp

@@ -368,7 +368,7 @@ TEST(UtilsTests, SmootherTest)
 
   // Check that path is smoother
   float smoothed_val{0}, original_val{0};
-  for (unsigned int i = 0; i != noisey_sequence.vx.shape(0); i++) {
+  for (unsigned int i = 1; i != noisey_sequence.vx.shape(0) - 1; i++) {
     smoothed_val += fabs(noisey_sequence.vx(i) - 0.2);
     smoothed_val += fabs(noisey_sequence.vy(i) - 0.0);
     smoothed_val += fabs(noisey_sequence.wz(i) - 0.3);