From 053d0c8cc96553f951d21be843f86099dba627d5 Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Thu, 5 Nov 2020 15:17:40 -0800
Subject: [PATCH] [WIP] Fix CI build issues (#2076)
* update to use on my fork to test changes to bondcpp
* using chrono literals in lifecycle manager
* nav2_rviz_plugins using chrono literals for API change
* using chrono literals in costmap_2d package from API change
* using chrono literals in observation buffer
* chrono literals for tests costmap
* chrono literal API changes
* changing API
* changing API
* API changes
* API change
* API change
* API change
* API change test
* API change test
* remove
* api updates
* update test values
---
nav2_controller/src/nav2_controller.cpp | 2 +-
nav2_costmap_2d/src/costmap_2d_ros.cpp | 5 +++--
nav2_costmap_2d/src/observation_buffer.cpp | 6 ++++--
.../integration/test_costmap_topic_collision_checker.cpp | 3 ++-
.../dwb_critics/include/dwb_critics/oscillation.hpp | 5 ++++-
nav2_lifecycle_manager/src/lifecycle_manager.cpp | 5 ++++-
nav2_recoveries/plugins/wait.cpp | 2 +-
nav2_rviz_plugins/src/nav2_panel.cpp | 7 ++++---
nav2_system_tests/src/planning/planner_tester.cpp | 2 +-
.../src/recoveries/backup/test_backup_recovery_launch.py | 4 ++--
.../src/recoveries/backup/test_backup_recovery_node.cpp | 2 +-
.../src/recoveries/spin/test_spin_recovery_node.cpp | 3 +--
.../src/recoveries/wait/test_wait_recovery_node.cpp | 2 +-
nav2_waypoint_follower/plugins/input_at_waypoint.cpp | 2 +-
smac_planner/test/test_a_star.cpp | 2 +-
tools/underlay.repos | 4 ++--
16 files changed, 33 insertions(+), 23 deletions(-)
diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
index 7af5e660..ced4dd48 100644
--- a/nav2_controller/src/nav2_controller.cpp
+++ b/nav2_controller/src/nav2_controller.cpp
@@ -339,7 +339,7 @@ void ControllerServer::setPlannerPath(const nav_msgs::msg::Path & path)
auto end_pose = path.poses.back();
end_pose.header.frame_id = path.header.frame_id;
- rclcpp::Duration tolerance(costmap_ros_->getTransformTolerance() * 1e9);
+ rclcpp::Duration tolerance(rclcpp::Duration::from_seconds(costmap_ros_->getTransformTolerance()));
nav_2d_utils::transformPose(
costmap_ros_->getTfBuffer(), costmap_ros_->getGlobalFrameID(),
end_pose, end_pose, tolerance);
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index 7b7b3ea4..70de2770 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -39,6 +39,7 @@
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include <memory>
+#include <chrono>
#include <string>
#include <vector>
#include <utility>
@@ -319,7 +320,7 @@ Costmap2DROS::getParameters()
if (map_publish_frequency_ > 0) {
publish_cycle_ = rclcpp::Duration::from_seconds(1 / map_publish_frequency_);
} else {
- publish_cycle_ = rclcpp::Duration(-1);
+ publish_cycle_ = rclcpp::Duration(-1s);
}
// 3. If the footprint has been specified, it must be in the correct format
@@ -393,7 +394,7 @@ Costmap2DROS::mapUpdateLoop(double frequency)
timer.end();
RCLCPP_DEBUG(get_logger(), "Map update time: %.9f", timer.elapsed_time_in_seconds());
- if (publish_cycle_ > rclcpp::Duration(0) && layered_costmap_->isInitialized()) {
+ if (publish_cycle_ > rclcpp::Duration(0s) && layered_costmap_->isInitialized()) {
unsigned int x0, y0, xn, yn;
layered_costmap_->getBounds(&x0, &xn, &y0, &yn);
costmap_publisher_->updateBounds(x0, xn, y0, yn);
diff --git a/nav2_costmap_2d/src/observation_buffer.cpp b/nav2_costmap_2d/src/observation_buffer.cpp
index 9d37eacf..8ac5b395 100644
--- a/nav2_costmap_2d/src/observation_buffer.cpp
+++ b/nav2_costmap_2d/src/observation_buffer.cpp
@@ -40,9 +40,11 @@
#include <list>
#include <string>
#include <vector>
+#include <chrono>
#include "tf2/convert.h"
#include "sensor_msgs/point_cloud2_iterator.hpp"
+using namespace std::chrono_literals;
namespace nav2_costmap_2d
{
@@ -180,7 +182,7 @@ void ObservationBuffer::purgeStaleObservations()
if (!observation_list_.empty()) {
std::list<Observation>::iterator obs_it = observation_list_.begin();
// if we're keeping observations for no time... then we'll only keep one observation
- if (observation_keep_time_ == rclcpp::Duration(0.0)) {
+ if (observation_keep_time_ == rclcpp::Duration(0.0s)) {
observation_list_.erase(++obs_it, observation_list_.end());
return;
}
@@ -202,7 +204,7 @@ void ObservationBuffer::purgeStaleObservations()
bool ObservationBuffer::isCurrent() const
{
- if (expected_update_rate_ == rclcpp::Duration(0.0)) {
+ if (expected_update_rate_ == rclcpp::Duration(0.0s)) {
return true;
}
diff --git a/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp b/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp
index 619613c6..1fc0885e 100644
--- a/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp
+++ b/nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp
@@ -15,6 +15,7 @@
#include <string>
#include <vector>
#include <memory>
+#include <chrono>
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
@@ -230,7 +231,7 @@ protected:
{
geometry_msgs::msg::TransformStamped tf_stamped;
tf_stamped.header.frame_id = "map";
- tf_stamped.header.stamp = now() + rclcpp::Duration(1.0);
+ tf_stamped.header.stamp = now() + rclcpp::Duration(1.0ns);
tf_stamped.child_frame_id = "base_link";
tf_stamped.transform.translation.x = x;
tf_stamped.transform.translation.y = y;
diff --git a/nav2_dwb_controller/dwb_critics/include/dwb_critics/oscillation.hpp b/nav2_dwb_controller/dwb_critics/include/dwb_critics/oscillation.hpp
index 457213b5..bb228080 100644
--- a/nav2_dwb_controller/dwb_critics/include/dwb_critics/oscillation.hpp
+++ b/nav2_dwb_controller/dwb_critics/include/dwb_critics/oscillation.hpp
@@ -37,8 +37,11 @@
#include <vector>
#include <string>
+#include <chrono>
#include "dwb_core/trajectory_critic.hpp"
+using namespace std::chrono_literals; // NOLINT
+
namespace dwb_critics
{
@@ -80,7 +83,7 @@ class OscillationCritic : public dwb_core::TrajectoryCritic
{
public:
OscillationCritic()
- : oscillation_reset_time_(0) {}
+ : oscillation_reset_time_(0s) {}
void onInit() override;
bool prepare(
const geometry_msgs::msg::Pose2D & pose, const nav_2d_msgs::msg::Twist2D & vel,
diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
index 92a6279c..3f883222 100644
--- a/nav2_lifecycle_manager/src/lifecycle_manager.cpp
+++ b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -156,7 +156,10 @@ LifecycleManager::createBondConnection(const std::string & node_name)
bond_map_[node_name]->setHeartbeatTimeout(timeout_s);
bond_map_[node_name]->setHeartbeatPeriod(0.10);
bond_map_[node_name]->start();
- if (!bond_map_[node_name]->waitUntilFormed(rclcpp::Duration(timeout_ns / 2))) {
+ if (
+ !bond_map_[node_name]->waitUntilFormed(
+ rclcpp::Duration(rclcpp::Duration::from_nanoseconds(timeout_ns / 2))))
+ {
RCLCPP_ERROR(
get_logger(),
"Server %s was unable to be reached after %0.2fs by bond. "
diff --git a/nav2_recoveries/plugins/wait.cpp b/nav2_recoveries/plugins/wait.cpp
index e9a27b4d..66bcabc1 100644
--- a/nav2_recoveries/plugins/wait.cpp
+++ b/nav2_recoveries/plugins/wait.cpp
@@ -44,7 +44,7 @@ Status Wait::onCycleUpdate()
auto time_left =
std::chrono::duration_cast<std::chrono::nanoseconds>(wait_end_ - current_point).count();
- feedback_->time_left = rclcpp::Duration(time_left);
+ feedback_->time_left = rclcpp::Duration(rclcpp::Duration::from_nanoseconds(time_left));
action_server_->publish_feedback(feedback_);
if (time_left > 0) {
diff --git a/nav2_rviz_plugins/src/nav2_panel.cpp b/nav2_rviz_plugins/src/nav2_panel.cpp
index 396eafd4..e43992fb 100644
--- a/nav2_rviz_plugins/src/nav2_panel.cpp
+++ b/nav2_rviz_plugins/src/nav2_panel.cpp
@@ -20,6 +20,7 @@
#include <memory>
#include <vector>
#include <utility>
+#include <chrono>
#include "nav2_rviz_plugins/goal_common.hpp"
#include "rviz_common/display_context.hpp"
@@ -629,7 +630,7 @@ Nav2Panel::updateWpNavigationMarkers()
arrow_marker.color.g = 255;
arrow_marker.color.b = 0;
arrow_marker.color.a = 1.0f;
- arrow_marker.lifetime = rclcpp::Duration(0);
+ arrow_marker.lifetime = rclcpp::Duration(0s);
arrow_marker.frame_locked = false;
marker_array->markers.push_back(arrow_marker);
@@ -647,7 +648,7 @@ Nav2Panel::updateWpNavigationMarkers()
circle_marker.color.g = 0;
circle_marker.color.b = 0;
circle_marker.color.a = 1.0f;
- circle_marker.lifetime = rclcpp::Duration(0);
+ circle_marker.lifetime = rclcpp::Duration(0s);
circle_marker.frame_locked = false;
marker_array->markers.push_back(circle_marker);
@@ -666,7 +667,7 @@ Nav2Panel::updateWpNavigationMarkers()
marker_text.color.g = 255;
marker_text.color.b = 0;
marker_text.color.a = 1.0f;
- marker_text.lifetime = rclcpp::Duration(0);
+ marker_text.lifetime = rclcpp::Duration(0s);
marker_text.frame_locked = false;
marker_text.text = "wp_" + std::to_string(i + 1);
marker_array->markers.push_back(marker_text);
diff --git a/nav2_system_tests/src/planning/planner_tester.cpp b/nav2_system_tests/src/planning/planner_tester.cpp
index 1367735a..cfc5cbc3 100644
--- a/nav2_system_tests/src/planning/planner_tester.cpp
+++ b/nav2_system_tests/src/planning/planner_tester.cpp
@@ -133,7 +133,7 @@ void PlannerTester::updateRobotPosition(const geometry_msgs::msg::Point & positi
}
std::cout << now().nanoseconds() << std::endl;
- base_transform_->header.stamp = now() + rclcpp::Duration(250000000);
+ base_transform_->header.stamp = now() + rclcpp::Duration(0.25s);
base_transform_->transform.translation.x = position.x;
base_transform_->transform.translation.y = position.y;
base_transform_->transform.rotation.w = 1.0;
diff --git a/nav2_system_tests/src/recoveries/backup/test_backup_recovery_launch.py b/nav2_system_tests/src/recoveries/backup/test_backup_recovery_launch.py
index 7f23662f..82739e30 100755
--- a/nav2_system_tests/src/recoveries/backup/test_backup_recovery_launch.py
+++ b/nav2_system_tests/src/recoveries/backup/test_backup_recovery_launch.py
@@ -59,13 +59,13 @@ def generate_launch_description():
# using a local copy of TB3 urdf file
Node(
package='tf2_ros',
- node_executable='static_transform_publisher',
+ executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
Node(
package='tf2_ros',
- node_executable='static_transform_publisher',
+ executable='static_transform_publisher',
output='screen',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
diff --git a/nav2_system_tests/src/recoveries/backup/test_backup_recovery_node.cpp b/nav2_system_tests/src/recoveries/backup/test_backup_recovery_node.cpp
index 82c6effb..f5efe16f 100644
--- a/nav2_system_tests/src/recoveries/backup/test_backup_recovery_node.cpp
+++ b/nav2_system_tests/src/recoveries/backup/test_backup_recovery_node.cpp
@@ -85,7 +85,7 @@ TEST_P(BackupRecoveryTestFixture, testBackupRecovery)
// remain as a reminder to update this to a `false` case once the
// recovery server returns true values.
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
BackupRecoveryTests,
BackupRecoveryTestFixture,
::testing::Values(
diff --git a/nav2_system_tests/src/recoveries/spin/test_spin_recovery_node.cpp b/nav2_system_tests/src/recoveries/spin/test_spin_recovery_node.cpp
index cb83ed98..d0e89902 100644
--- a/nav2_system_tests/src/recoveries/spin/test_spin_recovery_node.cpp
+++ b/nav2_system_tests/src/recoveries/spin/test_spin_recovery_node.cpp
@@ -13,7 +13,6 @@
// See the License for the specific language governing permissions and
// limitations under the License. Reserved.
-#include <gtest/gtest.h>
#include <cmath>
#include <tuple>
#include <string>
@@ -76,7 +75,7 @@ TEST_P(SpinRecoveryTestFixture, testSpinRecovery)
EXPECT_EQ(true, success);
}
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
SpinRecoveryTests,
SpinRecoveryTestFixture,
::testing::Values(
diff --git a/nav2_system_tests/src/recoveries/wait/test_wait_recovery_node.cpp b/nav2_system_tests/src/recoveries/wait/test_wait_recovery_node.cpp
index 39ee9871..998808bf 100644
--- a/nav2_system_tests/src/recoveries/wait/test_wait_recovery_node.cpp
+++ b/nav2_system_tests/src/recoveries/wait/test_wait_recovery_node.cpp
@@ -80,7 +80,7 @@ TEST_P(WaitRecoveryTestFixture, testSWaitRecovery)
EXPECT_EQ(true, success);
}
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
WaitRecoveryTests,
WaitRecoveryTestFixture,
::testing::Values(
diff --git a/nav2_waypoint_follower/plugins/input_at_waypoint.cpp b/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
index 98dbfeaa..32c33cfc 100644
--- a/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
+++ b/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
@@ -39,7 +39,7 @@ void InputAtWaypoint::initialize(
const std::string & plugin_name)
{
auto node = parent.lock();
-
+
if (!node) {
throw std::runtime_error{"Failed to lock node in input at waypoint plugin!"};
}
diff --git a/smac_planner/test/test_a_star.cpp b/smac_planner/test/test_a_star.cpp
index a1e5dcf2..091ee0cf 100644
--- a/smac_planner/test/test_a_star.cpp
+++ b/smac_planner/test/test_a_star.cpp
@@ -153,7 +153,7 @@ TEST(AStarTest, test_a_star_se2)
EXPECT_TRUE(a_star.createPath(path, num_it, tolerance));
// check path is the right size and collision free
- EXPECT_EQ(num_it, 61);
+ EXPECT_EQ(num_it, 44);
EXPECT_EQ(path.size(), 75u);
for (unsigned int i = 0; i != path.size(); i++) {
EXPECT_EQ(costmapA->getCost(path[i].x, path[i].y), 0);
diff --git a/tools/underlay.repos b/tools/underlay.repos
index 73d6b1f1..6df91bf2 100644
--- a/tools/underlay.repos
+++ b/tools/underlay.repos
@@ -21,8 +21,8 @@ repositories:
version: ros2
ros/bond_core:
type: git
- url: https://github.com/ros/bond_core.git
- version: ros2
+ url: https://github.com/stevemacenski/bond_core.git
+ version: fix_deprecation_warning
ompl/ompl:
type: git
url: https://github.com/ompl/ompl.git
--
GitLab