Migrate to Kilted by adivardi · Pull Request #94 · open-navigation/opennav_coverage

adivardi · 2025-07-28T09:25:51Z

Migrate the code to Kilted

adivardi · 2025-07-28T11:26:46Z

I don't get why it is failing, and there seems to be no kilted rolling container.
I will hopefully have time to migrate to rolling in the next few weeks. Happy to to get some help on why this is failing on rolling in the meantime.

SteveMacenski · 2025-07-28T18:12:11Z

It looks like nav2_util wasn't installed on the system, so it couldn't compile.

    By not providing "Findnav2_util.cmake" in CMAKE_MODULE_PATH this project
    has asked CMake to find a package configuration file provided by
    "nav2_util", but CMake did not find one.
  
    Could not find a package configuration file provided by "nav2_util" with
    any of the following names:
  
      nav2_utilConfig.cmake
      nav2_util-config.cmake

You're using a Rolling distro which doesn't have Nav2 binaries. If you want to update for Kilted, you should use a Kilted container which will be able to use rosdep to install Kilted Nav2 packages.

SteveMacenski · 2025-07-28T18:14:14Z

I also just pushed a Kilted branch so we can also backport this into after merge in.

adivardi · 2025-07-29T09:08:48Z

I tried kilted and got this error:

 Input kilted was not a valid ROS 2 distribution for 'target-ros2-distro'. Valid values:  dashing,eloquent,foxy,galactic,humble,iron,jazzy,rolling

I will try it again now

Edit: https://github.com/open-navigation/opennav_coverage/actions/runs/16591772590/job/46928948426?pr=94

SteveMacenski · 2025-07-28T18:12:43Z

.github/workflows/test.yml

      fail-fast: false
      matrix:
-          ros_distro: [jazzy]
+          ros_distro: [rolling]


Could do jazzy, kilted to run both

The test on Jazzy seems to be failing. Maybe just kilted is enough?

SteveMacenski · 2025-07-29T19:10:08Z

.github/workflows/test.yml

      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
    container:
-      image: rostooling/setup-ros-docker:ubuntu-noble-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-desktop-latest


This image doesn't appear to exist https://github.com/orgs/ros-tooling/packages?tab=packages&q=kited

Can you file a ticket on rostooling/setup-ros-docker with that error?

You have a typo in the search.
I found these 2 packages:
setup-ros-docker-ubuntu-noble-ros-kilted-desktop
setup-ros-docker-ubuntu-noble-ros-kilted-ros-base
https://github.com/orgs/ros-tooling/packages?packages&q=kilted

but it doesn't seem to help.

I opened a ticket: ros-tooling/setup-ros-docker#90

🤦

Lets see what they say!

It's here: https://github.com/ros-tooling/setup-ros-docker/pkgs/container/setup-ros-docker%2Fsetup-ros-docker-ubuntu-noble-ros-kilted-desktop. Try:

Suggested change

image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-desktop-latest

image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-ros-kilted-desktop

Note that images still get uploaded to Docker Hub, but that might eventually change, so I'd recommend switching to ghcr.io.

Thanks, I needed to add :master at the end, but seems to be working now

.github/workflows/test.yml

SteveMacenski · 2025-08-04T18:56:40Z

@adivardi remove Jazzy now if this is only the kilted branch. That should let this pass and we can merge!

SteveMacenski · 2025-08-04T18:57:02Z

.github/workflows/lint.yml

    runs-on: ubuntu-latest
    container:
-      image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-ros-kilted-desktop:master


Is the full desktop really necessary?

SteveMacenski · 2025-08-04T18:57:08Z

.github/workflows/test.yml

      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
    container:
-      image: rostooling/setup-ros-docker:ubuntu-noble-latest
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-ros-kilted-desktop:master


adivardi · 2025-08-07T06:53:57Z

all done now

* Migrate to Kilted (#94) * update msg for Kilted * [opennav_coverage_bt] migrate BT xml files * migrate coverage_navigator * rm error_msg from ComputeCoveragePath * use newer rostooling docker images, run test for Kilted * run linter on Kilted * use base image * Migrate to Lyrical * fix all compile errors due to wrong includes and to methods that moved from nav2_util to nav2 namespace * remove leftover declaration * fix missing assignment to class members * make Blackboard variable ID prive to the navigator to avoid clashes between navigators * Break long lines * only run CI on rolling * keep BB ID params outside navigator namespace * Add const * [.github] install rosdep before build * build nav2 from source * Update tf2 & tf2_ros headers * Migrate nodes in tests * depend on nav2_bt_navigator * Also build nav2_behavior_tree * Fix naming for nav2_path_expiring_timer_condition_bt_node see ros-navigation/navigation2#5471

adivardi added 4 commits June 27, 2025 09:27

update msg for Kilted

0922cf1

[opennav_coverage_bt] migrate BT xml files

f1766e1

migrate coverage_navigator

394410d

rm error_msg from ComputeCoveragePath

56ba125

adivardi force-pushed the kilted branch 3 times, most recently from d0edf59 to da313f2 Compare July 28, 2025 10:07

adivardi force-pushed the kilted branch from f5f1d1c to c63d72e Compare July 29, 2025 09:26

SteveMacenski reviewed Jul 29, 2025

View reviewed changes

adivardi mentioned this pull request Aug 1, 2025

Missing Kilted image ros-tooling/setup-ros-docker#90

Closed

christophebedard reviewed Aug 1, 2025

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.github/workflows/test.yml Show resolved Hide resolved

adivardi force-pushed the kilted branch 4 times, most recently from e5e58f1 to 1b536b8 Compare August 4, 2025 09:29

use newer rostooling docker images, run test for Kilted

e806774

adivardi force-pushed the kilted branch from e25ac83 to 30b2a51 Compare August 4, 2025 09:50

adivardi changed the base branch from main to kilted August 4, 2025 09:50

adivardi mentioned this pull request Aug 4, 2025

Migrate to Lyrical (rolling) #95

Merged

SteveMacenski reviewed Aug 4, 2025

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adivardi added 2 commits August 7, 2025 06:40

run linter on Kilted

eee99ec

use base image

ebefc3d

adivardi force-pushed the kilted branch from 30b2a51 to ebefc3d Compare August 7, 2025 06:43

SteveMacenski approved these changes Aug 7, 2025

View reviewed changes

SteveMacenski merged commit d6e41a2 into open-navigation:kilted Aug 7, 2025
7 checks passed

SteveMacenski assigned SteveMacenski and unassigned SteveMacenski Aug 13, 2025

adivardi deleted the kilted branch August 27, 2025 06:49

	image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-desktop-latest
	image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-noble-ros-kilted-desktop

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adivardi commented Jul 28, 2025

Uh oh!

adivardi commented Jul 28, 2025

Uh oh!

SteveMacenski commented Jul 28, 2025

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SteveMacenski commented Jul 28, 2025

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adivardi commented Jul 29, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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SteveMacenski commented Aug 4, 2025

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adivardi commented Aug 7, 2025

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adivardi commented Jul 29, 2025 •

edited

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