* major smac planner collision checking speedups and improvements

* fix linting errors

* wireframe for state lattice node

* finishing boilerplate changes

* adding more context to each TODO and notes about path to completion

* prototype for the base plugin + refactor out common logic for all planners

* commiting speed up work in progress

* adding in improvements to overall user quality of life

* pushing updates to 2D for faster / smoother; hybrid for smoother and new heuristic function; a bit of rearchitecture; deprecating smoother to make room for a new one

* adding smoother prototype

* adding orientation guestimator

* correcing 2d

* done with smoother

* enabling collision checking full SE2 only when under inscribed cost according to current exponential decay function

* adding doxgyen on new function

* linting

* testing working

* fixing looping at end of paths + simplifying code

* fixed cost-based issue in smoother

* finishing touches on smoothing

* smoother recursion fix + crashing issue resolved

* incremental changes

* completed hybrid A* plannern

* adding images

* purge state lattice work to merge in just Hybrid-A* improvements

* linting

* Working on improve coverage for waypoint_follower package

* Fix typo

* Fix cpplint and uncrustify errors

* Fix nav_2d_utils/src/conversions.cpp include order errors (#2407)

* Improve coverage for wait_at_waypoint plugin

* Improve coverage for photo_at_waypoint plugin

* adding nav2_python_commander package

* adding readme

* launch files for the python commander examples

* renaming to nav2_simple_commander

* resolve review comments

* fixing rosdep key

* fixing up linters

as ccache doesn't seem to work otherwise with relative paths

* Use dpkg --list to format stdout to lockfile
to make list of installed package more readable

* Line formating
space new line after each lockfile checksum

* Specify ROS distro for rosdep update

* Strip ros distro install fom AMENT_PREFIX_PATH
to force rosdep to resolve and list apt installed package dependencies
and to not skip them as if they are in the catkin workspace

* Prevent dpkg from listing all installed pacakge
when set of dependencies happens to be empty

* Account single entry case AMENT_PREFIX_PATH

* Unset AMENT_PREFIX_PATH if only ros install path
to prevent rosdep from erroring out on empty var

* Cache ccache folder in workspace
and move ccache_stats command into setup_workspace

* Store ccache logs in colcon build log path

* Updates to cache ccache folder in workspace

* Install colcon clean extension

* Clean install path for packages to rebuild

* Clean test result path for packages to retest

* Set entrypoint for builder stage
to update time stamp used for breaking caches

do so at end of builder stage to capture overlay dependencies

* Set test-result-base for clean package verb

* Reinstate copy test results step

* Set default test-result-base for all verbs

* Drop copy step for test results

* Use parallel executor for testing
to print Processing status to stdout and avoid CI timeouts
but limit parallel-workers to 1 to be like sequential

* Remove entrypoint for builder stage
as lockfiles capture installed dependency versions
and colcon cache can ensure underlay sourse correspond to ws build
thus updates to builder stage layers need not break cache

* Revert to testing image for CI

* Use ompl from testing repo
and modify Dockerfile to account for empty underlay

* Clean up RUN directive for caching

* Revert #2025
now that ompl issue is resolved
https://github.com/ompl/ompl/issues/753

* Continue checkout if ccache doesn't yet exist

* Use fastcov

Missing from #2348

* Revert CI to osrf/ros2:nightly

* Rename and remove dockerhub files

* Use single image for both debug and release jobs

* Wipe entire overlay before checkout
to now avoid passing image overlay files into ci caches

* Split out tester stage

* Do not  install recommends or suggests packages
from apt-get or rosdep install

* Only target builder stage for CI image

* Rename folder to builder

* Update colcon-cache

This was being done accidentally by tf2 before, but we should
make sure to include what we use.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

* Fix SEGV caused by goal_handle_ which is nullptr while result_callback called

* Ignoring the goal result if a new goal request sent

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

* removing dashing as EOL

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

* adding galactic to readme table

Fixes #2358

* Fix action syntax

add missing required key

* Fix curl scripting

* Use tokenless codecov upload
by leting codecov script pickup on circleci env
on it own to corroborate identity

* Remove dockerhub cron job from circleci

* Add dockerhub cron job from gh actions

tf2_geometry_msgs.h was replaced by tf2_geometry_msgs.hpp in https://github.com/ros2/geometry2/pull/418.
tf2_sensor_msgs.h was replaced by tf2_sensor_msgs.hpp in https://github.com/ros2/geometry2/pull/416

.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Rename rclcpp parameter exception

The parameter exception name is being changed in https://github.com/ros2/rclcpp/pull/1673



Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Exception is thrown when getting the parameter

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix test

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix typo

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Update BT nodes to use callback groups / executors to process

implement #2251

* add executor to other BT nodes

* use spin_some in is_battery_low BT condition

* fix merge

* remove spinning thread

* Disable dockerhub workflow for testing

* Disable debug jobs for testing

* Disable extra rmw jobs for testing

* Rename docker images for testing

* Default to cache from main branch

* Use colcon cache

* Install colcon cache

* Fix xargs typo

* List names only

* Checksum overlay ws src after restore and store
to restore ws cache for incremental builds

* Disable test jobs

* Revert checksum update but use underlay src

* Only cache ws build and install folder
to avoide overwritting ws src folder with restore

* Don't remove git files from underlay
so vcs tools can export underlay to checksum

* Save build cache regardless of failure

* cache tests

* Update colcon cache

* No need to remove log folder
as its no longer cached

* Bypass .dockerignore for dockerhub build hooks
to include .git folder in overlay for colcon cache

* Simplify checkout
now that underlay and overload have lockfiles

* Remove overlay src folder for checkout

* Echo env for debug

* Use if checks for empty package sets
as --packages-above with empty args will not skip any package

* Save workspace log to cache

* Set TEST_PACKAGES to empty instead of skipping

* Update colcon cache

* Update colcon cache

* Explicitltly list packages to build
using an environment variable

* Enable debug and nightly jobs

* Test all packages if cache_test is false

* Revert testing fork changes

* Install pip in rolling image

* Rename checksum file to lockfile.txt

* Config formatting

* Simplify testing

* Trigger dockerhub build when ros2 has updates

* Apt upgrade in dockerfile
to avoid dockerhub build trigger loops
when latest ros docker image is outdated
as compared to latest sync ros2 list repo

* Update Dockerfiles and Dockerhub to rolling

* Comment out packages avalable in rolling

* Install RMWs as CI dependencies