Humble main compilation (#5112)

* Changes:

* Fix build errors
* Fix colcon tests
* Remove new dynamic parameter API in RPP
* Remove message introspection

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Changes:

* Address PR comments.

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Changes:

* Fix issue in loopback sim

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Changes:

* Use deprecated ParseMultiRobot

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Fix for simulations to run with gazebo fortress

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Fix missing dep in mppi

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Fix more launch issues

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Fix most of the failing tests.

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Configure CI

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Add underlay repos

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Remove GPS tests and fix route server tests

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Remove ament_lint_auto related in all CMakeLists.txt

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Delete lint.yml

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Change spin_all to spin_some

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Fix route_result_future in robot_navigator.py

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Add backport-humble-main to mergify

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Fix underlay.repos file

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

* Fix common_interfaces branch

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>

---------

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>
Co-authored-by: suchetanrs <suchetan.saravanan@gmail.com>

Author: coderwyvern

.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/lint.yml

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

.github/workflows/update_ci_image.yaml

@@ -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
 

Dockerfile

@@ -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_amcl/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/CMakeLists.txt

@@ -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/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -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()