Adapt rolling pose2d deprecated

[fmrico]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5338
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation of Tally
Does this PR contain AI generated software?	No

---

Description of contribution in a few bullet points

• Migrated all code to use geometry_msgs::msg::Pose instead of geometry_msgs::msg::Pose2D, which is deprecated in Removed deprecated geometry_msgs/Pose2d ros2/common_interfaces#283
• Also fixed many CMakeLists.txt that needed nav2_ros_common and didn't use target_link_libraries for this.

Description of documentation updates required from your changes

• I have updated doxygen/docs in the code, but not in any other place.

Description of how this change was tested

• Pass tests with colcon test
• Checked functionality in tb3_simulation_launch.py

Future work that may be required in bullet points

• I think there are still some problems in tests, not related to my changes, which come from newer versions of rolling and the compiler.

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

[SteveMacenski]

I got through 102/136 files, so this isn't a complete accounting but what I found so far (not much, really)

[fmrico]

Hi Steve,

Following your review, I have:

1. Used orientationAroundZAxis for creating quaternion messages.
2. Removed nav_2d_msgs/msg/Path2D, using nav_msgs/msg/Path instead.
3. Removed nav_2d_msgs/msg/Pose2DStamped, using geometry_msgs/msg/PaseStamped instead.
4. Removed conversion functions that are no longer needed because of the previous points.

[codecov]

Codecov Report

Attention: Patch coverage is 93.24324% with 10 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_dwb_controller/dwb_core/src/publisher.cpp	42.85%	4 Missing ⚠️
...av2_dwb_controller/dwb_critics/src/oscillation.cpp	0.00%	2 Missing ⚠️
...v2_dwb_controller/nav_2d_utils/src/conversions.cpp	66.66%	2 Missing ⚠️
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp	0.00%	1 Missing ⚠️
..._dwb_controller/dwb_critics/src/rotate_to_goal.cpp	66.66%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...include/nav2_behaviors/plugins/assisted_teleop.hpp	100.00% <ø> (ø)
...nclude/nav2_behaviors/plugins/drive_on_heading.hpp	92.78% <100.00%> (+0.86%)	⬆️
..._behaviors/include/nav2_behaviors/plugins/spin.hpp	100.00% <ø> (ø)
nav2_behaviors/plugins/assisted_teleop.cpp	88.88% <100.00%> (-0.14%)	⬇️
nav2_behaviors/plugins/spin.cpp	87.05% <100.00%> (-0.16%)	⬇️
.../nav2_controller/plugins/pose_progress_checker.hpp	100.00% <ø> (ø)
nav2_controller/plugins/pose_progress_checker.cpp	96.66% <100.00%> (-0.11%)	⬇️
...av2_controller/plugins/simple_progress_checker.cpp	100.00% <100.00%> (ø)
...nav2_costmap_2d/costmap_filters/costmap_filter.hpp	66.66% <ø> (ø)
...av2_costmap_2d/costmap_topic_collision_checker.hpp	100.00% <ø> (ø)
... and 46 more

... and 3 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[SteveMacenski]

LGTM - a few small changes but I got through all the files and I should be able to just merge it in after these

I appreciate your diligence on this. I know this isn't the most fun thing in the world

[SteveMacenski]

@fmrico the aws_graph.geojson file is changed again, I'm going to go ahead and merge this and manually change that back for the sake of time and your sanity :-)

[fmrico]

@fmrico the aws_graph.geojson file is changed again, I'm going to go ahead and merge this and manually change that back for the sake of time and your sanity :-)

Thanks @SteveMacenski !!