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Merged
merged 9 commits into from
Jul 17, 2025
Merged

Adapt rolling pose2d deprecated #5343

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5c7282c
Fix target_link_libraries dependency on nav2_ros_common
fmrico Jul 9, 2025
dc3d7e5
Update/Fix CMakeLists for last rolling changes
fmrico Jul 10, 2025
0e50e18
Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg:…
fmrico Jul 10, 2025
618aa9f
Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg:…
fmrico Jul 10, 2025
fa4f913
Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg:…
fmrico Jul 10, 2025
f46f639
Use nav2_util for creating quaternions
fmrico Jul 11, 2025
f4fab39
Use standard messages
fmrico Jul 11, 2025
2d999bc
Minor changes from review
fmrico Jul 16, 2025
ac9e441
Changes from review
fmrico Jul 17, 2025
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16 changes: 8 additions & 8 deletions nav2_amcl/CMakeLists.txt
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,12 +64,12 @@ add_library(motions_lib SHARED
target_include_directories(motions_lib
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(motions_lib PUBLIC
pf_lib
pluginlib::pluginlib
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
)

add_library(sensors_lib SHARED
Expand All @@ -81,11 +81,11 @@ add_library(sensors_lib SHARED
target_include_directories(sensors_lib
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(sensors_lib PUBLIC
pf_lib
map_lib
nav2_ros_common::nav2_ros_common
)

set(executable_name amcl)
Expand All @@ -101,12 +101,12 @@ endif()
target_include_directories(${library_name}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${library_name} PUBLIC
${geometry_msgs_TARGETS}
message_filters::message_filters
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
${sensor_msgs_TARGETS}
${std_srvs_TARGETS}
pluginlib::pluginlib
Expand All @@ -129,10 +129,10 @@ add_executable(${executable_name}
target_include_directories(${executable_name}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${executable_name} PRIVATE
${library_name}
nav2_ros_common::nav2_ros_common
)

rclcpp_components_register_nodes(${library_name} "nav2_amcl::AmclNode")
Expand Down
10 changes: 5 additions & 5 deletions nav2_behavior_tree/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -29,15 +29,15 @@ add_library(${library_name} SHARED
target_include_directories(${library_name}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${library_name} PUBLIC
${action_msgs_TARGETS}
behaviortree_cpp::behaviortree_cpp
${geometry_msgs_TARGETS}
${nav_msgs_TARGETS}
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
rclcpp::rclcpp
rclcpp_action::rclcpp_action
rclcpp_lifecycle::rclcpp_lifecycle
Expand Down Expand Up @@ -249,8 +249,7 @@ foreach(bt_plugin ${plugin_libs})
target_include_directories(${bt_plugin}
PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${bt_plugin} PUBLIC
behaviortree_cpp::behaviortree_cpp
${geometry_msgs_TARGETS}
Expand Down Expand Up @@ -285,9 +284,10 @@ add_executable(generate_nav2_tree_nodes_xml src/generate_nav2_tree_nodes_xml.cpp
target_link_libraries(generate_nav2_tree_nodes_xml PRIVATE
behaviortree_cpp::behaviortree_cpp
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
)
# allow generate_nav2_tree_nodes_xml to find plugins_list.hpp
target_include_directories(generate_nav2_tree_nodes_xml PRIVATE ${GENERATED_DIR} "$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>")
target_include_directories(generate_nav2_tree_nodes_xml PRIVATE ${GENERATED_DIR})
install(TARGETS generate_nav2_tree_nodes_xml DESTINATION lib/${PROJECT_NAME})

install(DIRECTORY include/
Expand Down
2 changes: 2 additions & 0 deletions nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@
#include "rclcpp/rclcpp.hpp"
#include "tf2/LinearMath/Matrix3x3.hpp"
#include "tf2/LinearMath/Quaternion.hpp"
#include "tf2/utils.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"

#include "behaviortree_cpp/bt_factory.h"

Expand Down
32 changes: 16 additions & 16 deletions nav2_behavior_tree/test/test_bt_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ TEST(PointPortTest, test_wrong_syntax)

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<geometry_msgs::msg::Point>>("PointPort");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);

xml_txt =
R"(
Expand All @@ -68,7 +68,7 @@ TEST(PointPortTest, test_wrong_syntax)
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
}

TEST(PointPortTest, test_correct_syntax)
Expand Down Expand Up @@ -105,7 +105,7 @@ TEST(QuaternionPortTest, test_wrong_syntax)
BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<geometry_msgs::msg::Quaternion>>("QuaternionPort");

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);

xml_txt =
R"(
Expand All @@ -115,7 +115,7 @@ TEST(QuaternionPortTest, test_wrong_syntax)
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
}

TEST(QuaternionPortTest, test_correct_syntax)
Expand Down Expand Up @@ -152,7 +152,7 @@ TEST(PoseStampedPortTest, test_wrong_syntax)

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<geometry_msgs::msg::PoseStamped>>("PoseStampedPort");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);

xml_txt =
R"(
Expand All @@ -162,7 +162,7 @@ TEST(PoseStampedPortTest, test_wrong_syntax)
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
}

TEST(PoseStampedPortTest, test_correct_syntax)
Expand Down Expand Up @@ -206,7 +206,7 @@ TEST(PoseStampedVectorPortTest, test_wrong_syntax)
BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<std::vector<geometry_msgs::msg::PoseStamped>>>(
"PoseStampedVectorPortTest");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);

xml_txt =
R"(
Expand All @@ -216,7 +216,7 @@ TEST(PoseStampedVectorPortTest, test_wrong_syntax)
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
}

TEST(PoseStampedVectorPortTest, test_correct_syntax)
Expand Down Expand Up @@ -270,7 +270,7 @@ TEST(GoalsArrayPortTest, test_wrong_syntax)
BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<nav_msgs::msg::Goals>>(
"GoalsArrayPortTest");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);

xml_txt =
R"(
Expand All @@ -280,7 +280,7 @@ TEST(GoalsArrayPortTest, test_wrong_syntax)
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
}

TEST(GoalsArrayPortTest, test_correct_syntax)
Expand Down Expand Up @@ -334,7 +334,7 @@ TEST(PathPortTest, test_wrong_syntax)
BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<nav_msgs::msg::Path>>(
"PathPortTest");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);

xml_txt =
R"(
Expand All @@ -344,7 +344,7 @@ TEST(PathPortTest, test_wrong_syntax)
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
}

TEST(PathPortTest, test_correct_syntax)
Expand Down Expand Up @@ -399,7 +399,7 @@ TEST(WaypointStatusPortTest, test_wrong_syntax)

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<nav2_msgs::msg::WaypointStatus>>("WaypointStatusPort");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);

xml_txt =
R"(
Expand All @@ -409,7 +409,7 @@ TEST(WaypointStatusPortTest, test_wrong_syntax)
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
}

TEST(WaypointStatusPortTest, test_correct_syntax)
Expand Down Expand Up @@ -455,7 +455,7 @@ TEST(WaypointStatusVectorPortTest, test_wrong_syntax) {
BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<std::vector<nav2_msgs::msg::WaypointStatus>>>(
"WaypointStatusVectorPort");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);

xml_txt =
R"(
Expand All @@ -465,7 +465,7 @@ TEST(WaypointStatusVectorPortTest, test_wrong_syntax) {
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
EXPECT_THROW({auto unused = factory.createTreeFromText(xml_txt);}, std::exception);
}

TEST(WaypointStatusVectorPortTest, test_correct_syntax)
Expand Down
12 changes: 6 additions & 6 deletions nav2_behaviors/CMakeLists.txt
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,6 @@ target_include_directories(nav2_spin_behavior
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
)
target_link_libraries(nav2_spin_behavior PUBLIC
${geometry_msgs_TARGETS}
Expand All @@ -40,6 +39,7 @@ target_link_libraries(nav2_spin_behavior PUBLIC
nav2_costmap_2d::nav2_costmap_2d_core
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
tf2::tf2
Expand All @@ -57,14 +57,14 @@ target_include_directories(nav2_wait_behavior
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
)
target_link_libraries(nav2_wait_behavior PUBLIC
${geometry_msgs_TARGETS}
nav2_core::nav2_core
nav2_costmap_2d::nav2_costmap_2d_core
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
tf2::tf2
Expand All @@ -78,14 +78,14 @@ target_include_directories(nav2_drive_on_heading_behavior
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
)
target_link_libraries(nav2_drive_on_heading_behavior PUBLIC
${geometry_msgs_TARGETS}
nav2_core::nav2_core
nav2_costmap_2d::nav2_costmap_2d_core
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
tf2::tf2
Expand All @@ -102,14 +102,14 @@ target_include_directories(nav2_back_up_behavior
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
)
target_link_libraries(nav2_back_up_behavior PUBLIC
${geometry_msgs_TARGETS}
nav2_core::nav2_core
nav2_costmap_2d::nav2_costmap_2d_core
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
tf2::tf2
Expand All @@ -126,14 +126,14 @@ target_include_directories(nav2_assisted_teleop_behavior
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
)
target_link_libraries(nav2_assisted_teleop_behavior PUBLIC
${geometry_msgs_TARGETS}
nav2_core::nav2_core
nav2_costmap_2d::nav2_costmap_2d_core
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
${std_msgs_TARGETS}
Expand All @@ -154,13 +154,13 @@ target_include_directories(${library_name}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
"$<BUILD_INTERFACE:${nav2_ros_common_INCLUDE_DIRS}>"
)
target_link_libraries(${library_name} PUBLIC
nav2_core::nav2_core
nav2_costmap_2d::nav2_costmap_2d_client
nav2_costmap_2d::nav2_costmap_2d_core
nav2_util::nav2_util_core
nav2_ros_common::nav2_ros_common
pluginlib::pluginlib
rclcpp_lifecycle::rclcpp_lifecycle
tf2_ros::tf2_ros
Expand Down
4 changes: 2 additions & 2 deletions nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,8 +78,8 @@ class AssistedTeleop : public TimedBehavior<AssistedTeleopAction>
* @param twist velocity to project pose by
* @param projection_time time to project by
*/
geometry_msgs::msg::Pose2D projectPose(
const geometry_msgs::msg::Pose2D & pose,
geometry_msgs::msg::Pose projectPose(
const geometry_msgs::msg::Pose & pose,
const geometry_msgs::msg::Twist & twist,
double projection_time);

Expand Down
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