Fix build on macOS (10.x / 11.x)

nav2_amcl/src/amcl_node.cpp

@@ -406,7 +406,7 @@ AmclNode::checkLaserReceived()
     RCLCPP_WARN(
       get_logger(), "Laser scan has not been received"
       " (and thus no pose updates have been published)."
-      " Verify that data is being published on the %s topic.", scan_topic_);
+      " Verify that data is being published on the %s topic.", scan_topic_.c_str());
     return;
   }
 
@@ -415,7 +415,7 @@ AmclNode::checkLaserReceived()
     RCLCPP_WARN(
       get_logger(), "No laser scan received (and thus no pose updates have been published) for %f"
       " seconds.  Verify that data is being published on the %s topic.",
-      d.nanoseconds() * 1e-9, scan_topic_);
+      d.nanoseconds() * 1e-9, scan_topic_.c_str());
   }
 }
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -36,11 +36,11 @@ class BtActionNode : public BT::ActionNodeBase
     const BT::NodeConfiguration & conf)
   : BT::ActionNodeBase(xml_tag_name, conf), action_name_(action_name)
   {
-    node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+    node_ = config().blackboard->template get<rclcpp::Node::SharedPtr>("node");
 
     // Get the required items from the blackboard
     server_timeout_ =
-      config().blackboard->get<std::chrono::milliseconds>("server_timeout");
+      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
 
     // Initialize the input and output messages
@@ -245,9 +245,9 @@ class BtActionNode : public BT::ActionNodeBase
   void increment_recovery_count()
   {
     int recovery_count = 0;
-    config().blackboard->get<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template get<int>("number_recoveries", recovery_count);  // NOLINT
     recovery_count += 1;
-    config().blackboard->set<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template set<int>("number_recoveries", recovery_count);  // NOLINT
   }
 
   std::string action_name_;

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -35,11 +35,11 @@ class BtServiceNode : public BT::SyncActionNode
     const BT::NodeConfiguration & conf)
   : BT::SyncActionNode(service_node_name, conf), service_node_name_(service_node_name)
   {
-    node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+    node_ = config().blackboard->template get<rclcpp::Node::SharedPtr>("node");
 
     // Get the required items from the blackboard
     server_timeout_ =
-      config().blackboard->get<std::chrono::milliseconds>("server_timeout");
+      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
 
     // Now that we have node_ to use, create the service client for this BT service
@@ -126,9 +126,9 @@ class BtServiceNode : public BT::SyncActionNode
   void increment_recovery_count()
   {
     int recovery_count = 0;
-    config().blackboard->get<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template get<int>("number_recoveries", recovery_count);  // NOLINT
     recovery_count += 1;
-    config().blackboard->set<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template set<int>("number_recoveries", recovery_count);  // NOLINT
   }
 
   std::string service_name_, service_node_name_;

nav2_bt_navigator/src/ros_topic_logger.cpp

@@ -42,12 +42,7 @@ void RosTopicLogger::callback(
 
   // BT timestamps are a duration since the epoch. Need to convert to a time_point
   // before converting to a msg.
-#ifndef _WIN32
-  event.timestamp =
-    tf2_ros::toMsg(std::chrono::time_point<std::chrono::high_resolution_clock>(timestamp));
-#else
-  event.timestamp = tf2_ros::toMsg(timestamp);
-#endif
+  event.timestamp = tf2_ros::toMsg(tf2::TimePoint(timestamp));
   event.node_name = node.name();
   event.previous_status = toStr(prev_status, false);
   event.current_status = toStr(status, false);

nav2_costmap_2d/include/nav2_costmap_2d/observation.hpp

@@ -59,6 +59,11 @@ class Observation
     delete cloud_;
   }
 
+  /**
+    * @brief  Explicitly define copy assignment operator for Observation as it has a user-declared destructor
+    */
+  Observation & operator=(const Observation &) = default;
+
   /**
    * @brief  Creates an observation from an origin point and a point cloud
    * @param origin The origin point of the observation

nav2_costmap_2d/include/nav2_costmap_2d/observation_buffer.hpp

@@ -49,6 +49,7 @@
 #include "nav2_costmap_2d/observation.hpp"
 #include "nav2_util/lifecycle_node.hpp"
 
+
 namespace nav2_costmap_2d
 {
 /**
@@ -80,7 +81,7 @@ class ObservationBuffer
     double min_obstacle_height, double max_obstacle_height, double obstacle_range,
     double raytrace_range, tf2_ros::Buffer & tf2_buffer, std::string global_frame,
     std::string sensor_frame,
-    double tf_tolerance);
+    tf2::Duration tf_tolerance);
 
   /**
    * @brief  Destructor... cleans up
@@ -146,7 +147,7 @@ class ObservationBuffer
   double min_obstacle_height_, max_obstacle_height_;
   std::recursive_mutex lock_;  ///< @brief A lock for accessing data in callbacks safely
   double obstacle_range_, raytrace_range_;
-  double tf_tolerance_;
+  tf2::Duration tf_tolerance_;
 };
 }  // namespace nav2_costmap_2d
 #endif  // NAV2_COSTMAP_2D__OBSERVATION_BUFFER_HPP_

nav2_costmap_2d/plugins/obstacle_layer.cpp

@@ -179,7 +179,7 @@ void ObstacleLayer::onInitialize()
           node, topic, observation_keep_time, expected_update_rate,
           min_obstacle_height,
           max_obstacle_height, obstacle_range, raytrace_range, *tf_, global_frame_,
-          sensor_frame, transform_tolerance)));
+          sensor_frame, tf2::durationFromSec(transform_tolerance))));
 
     // check if we'll add this buffer to our marking observation buffers
     if (marking) {

nav2_costmap_2d/src/observation_buffer.cpp

@@ -55,7 +55,7 @@ ObservationBuffer::ObservationBuffer(
   double expected_update_rate,
   double min_obstacle_height, double max_obstacle_height, double obstacle_range,
   double raytrace_range, tf2_ros::Buffer & tf2_buffer, std::string global_frame,
-  std::string sensor_frame, double tf_tolerance)
+  std::string sensor_frame, tf2::Duration tf_tolerance)
 : tf2_buffer_(tf2_buffer),
   observation_keep_time_(rclcpp::Duration::from_seconds(observation_keep_time)),
   expected_update_rate_(rclcpp::Duration::from_seconds(expected_update_rate)),
@@ -95,7 +95,7 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::msg::PointCloud2 & cloud)
     local_origin.point.x = 0;
     local_origin.point.y = 0;
     local_origin.point.z = 0;
-    tf2_buffer_.transform(local_origin, global_origin, global_frame_);
+    tf2_buffer_.transform(local_origin, global_origin, global_frame_, tf_tolerance_);
     tf2::convert(global_origin.point, observation_list_.front().origin_);
 
     // make sure to pass on the raytrace/obstacle range
@@ -106,7 +106,7 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::msg::PointCloud2 & cloud)
     sensor_msgs::msg::PointCloud2 global_frame_cloud;
 
     // transform the point cloud
-    tf2_buffer_.transform(cloud, global_frame_cloud, global_frame_);
+    tf2_buffer_.transform(cloud, global_frame_cloud, global_frame_, tf_tolerance_);
     global_frame_cloud.header.stamp = cloud.header.stamp;
 
     // now we need to remove observations from the cloud that are below

nav2_dwb_controller/nav_2d_utils/CMakeLists.txt

@@ -25,6 +25,7 @@ set(dependencies
   tf2_geometry_msgs
   nav2_msgs
   nav2_util
+  nav_2d_msgs
 )
 
 include_directories(
@@ -53,6 +54,8 @@ ament_target_dependencies(tf_help
   ${dependencies}
 )
 
+target_link_libraries(tf_help conversions)
+
 install(TARGETS conversions path_ops tf_help
         ARCHIVE DESTINATION lib
         LIBRARY DESTINATION lib

nav2_recoveries/include/nav2_recoveries/recovery.hpp

@@ -111,7 +111,7 @@ class Recovery : public nav2_core::Recovery
 
     collision_checker_ = collision_checker;
 
-    vel_pub_ = node->create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
+    vel_pub_ = node->template create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
 
     onConfigure();
   }

nav2_util/src/dump_params.cpp

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <libgen.h>
+
 #include <iomanip>
 #include <iostream>
 #include <memory>

nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp

@@ -15,6 +15,13 @@
 #ifndef NAV2_WAYPOINT_FOLLOWER__PLUGINS__PHOTO_AT_WAYPOINT_HPP_
 #define NAV2_WAYPOINT_FOLLOWER__PLUGINS__PHOTO_AT_WAYPOINT_HPP_
 
+/**
+ * While C++17 isn't the project standard. We have to force LLVM/CLang
+ * to ignore deprecated declarations
+ */
+#define _LIBCPP_NO_EXPERIMENTAL_DEPRECATION_WARNING_FILESYSTEM
+
+
 #include <experimental/filesystem>
 #include <mutex>
 #include <string>

nav2_waypoint_follower/package.xml

@@ -7,17 +7,20 @@
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <license>Apache-2.0</license>
 
-  <depend>tf2_ros</depend>
-
   <buildtool_depend>ament_cmake</buildtool_depend>
+
   <depend>nav2_common</depend>
+  <depend>cv_bridge</depend>
+  <depend>pluginlib</depend>
+  <depend>image_transport</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>nav_msgs</depend>
   <depend>nav2_msgs</depend>
   <depend>nav2_util</depend>
   <depend>nav2_core</depend>
+  <depend>tf2_ros</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>

smac_planner/src/a_star.cpp

@@ -352,7 +352,7 @@ AStarAlgorithm<NodeSE2>::NodePtr AStarAlgorithm<NodeSE2>::getAnalyticPath(
   float d = node->motion_table.state_space->distance(from(), to());
   NodePtr prev(node);
   // A move of sqrt(2) is guaranteed to be in a new cell
-  constexpr float sqrt_2 = std::sqrt(2.);
+  static const float sqrt_2 = std::sqrt(2.);
   unsigned int num_intervals = std::floor(d / sqrt_2);
 
   using PossibleNode = std::pair<NodePtr, Coordinates>;