Migrate `geometry_msgs/PoseStampedArray` to `nav_msgs/Goals` by leander-dsouza · Pull Request #4980 · ros-navigation/navigation2

leander-dsouza · 2025-03-11T22:21:33Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4976
Primary OS tested on	Ubuntu
Robotic platform tested on	N/A
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Migrated geometry_msgs/msg/PoseStampedArray to nav_msgs/msg/Goals across the codebase.

Description of documentation updates required from your changes

The migration guide from Jazzy to Kilted needs to be updated for BT Nodes to use nav_msgs/msg/Goals instead.

Description of how this change was tested

Syntax migration tested through a simple colcon build from the workspace.
Unit tests were run using colcon test.

Future work that may be required in bullet points

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

SteveMacenski · 2025-03-11T23:26:48Z

Check CI - a few tests failed with legit problems that a couple of spots were missed 😄

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

… to nav_msg goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

codecov · 2025-03-12T01:13:39Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
...avior_tree/include/nav2_behavior_tree/bt_utils.hpp	`100.00% <100.00%> (ø)`
...ugins/action/compute_path_through_poses_action.hpp	`100.00% <100.00%> (ø)`
...e/plugins/action/navigate_through_poses_action.hpp	`100.00% <100.00%> (ø)`
...lugins/action/remove_in_collision_goals_action.hpp	`100.00% <100.00%> (ø)`
...tree/plugins/action/remove_passed_goals_action.hpp	`100.00% <100.00%> (ø)`
...gins/condition/globally_updated_goal_condition.hpp	`100.00% <100.00%> (ø)`
..._tree/plugins/condition/goal_updated_condition.hpp	`100.00% <100.00%> (ø)`
...tree/plugins/decorator/goal_updated_controller.hpp	`100.00% <100.00%> (ø)`
...avior_tree/plugins/decorator/goal_updater_node.hpp	`100.00% <100.00%> (ø)`
...havior_tree/plugins/decorator/speed_controller.hpp	`100.00% <100.00%> (ø)`
... and 9 more

... and 6 files with indirect coverage changes

🚀 New features to boost your workflow:

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

leander-dsouza · 2025-03-12T01:16:11Z

Check CI - a few tests failed with legit problems that a couple of spots were missed 😄

It should be fixed now :)
I had not migrated nav2_system_tests earlier to have the new message.

SteveMacenski

@tonynajjar this is your feature, can you validate that this works for you too? I did the code review and have no notes. I think its ready to go in once you're OK with it.

It just changes the name of the message essentially (and poses to goals) as Tully moved it to nav_msgs to be more semantically meaningful

tonynajjar

looks good. reminder to also update the docs: ros-navigation/docs.nav2.org#630

SteveMacenski · 2025-03-16T21:12:01Z

Good point. @leander-dsouza can you open a docs PR to change the type to the new one? Then I can merge the pair!

leander-dsouza · 2025-03-16T21:18:07Z

Yes, sure @SteveMacenski :)
I should be able to do it soon.

leander-dsouza · 2025-03-16T23:51:43Z

@SteveMacenski I have created a docs PR over here addressing the message migration.

SteveMacenski · 2025-03-17T03:13:30Z

Thanks!! This is really nice to have in and done, I appreciate your help! Let me know if you'd like to work on anything else and/or if I can help find something :-)

leander-dsouza · 2025-03-17T13:29:07Z

I would love that @SteveMacenski :)
I am eager to find ways to help contribute to open source.

SteveMacenski · 2025-03-17T15:51:18Z

I think #4990 and building into #4828 would be two really good next steps that help get issues off our issue tracker queue and improve our behavior and tooling!

leander-dsouza · 2025-03-17T16:11:01Z

Thank you for your suggestions, Steve!
I will work on #4990 and then proceed with #4828.

…igation#4980) * Migrated bt_utils and related files to use nav2_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated goal_updater_node to use nav2_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated remove_passed_goals_action to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated globally_updated_goal_condition to nav_msg goals. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated goal_updated_condition to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrate remove_in_collision_goals_action to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated navigate_through_poses and compute_path_through_poses_action to nav_msg goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrate nav2_system_tests to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com>

…igation#4980) * Migrated bt_utils and related files to use nav2_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated goal_updater_node to use nav2_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated remove_passed_goals_action to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated globally_updated_goal_condition to nav_msg goals. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated goal_updated_condition to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrate remove_in_collision_goals_action to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated navigate_through_poses and compute_path_through_poses_action to nav_msg goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrate nav2_system_tests to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>

…igation#4980) * Migrated bt_utils and related files to use nav2_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated goal_updater_node to use nav2_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated remove_passed_goals_action to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated globally_updated_goal_condition to nav_msg goals. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated goal_updated_condition to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrate remove_in_collision_goals_action to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrated navigate_through_poses and compute_path_through_poses_action to nav_msg goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Migrate nav2_system_tests to use nav_msgs goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

leander-dsouza changed the title ~~Migrate geometry_msgs/msg/PoseStampedArray to nav_msgs/msg/Goals~~ Migrate geometry_msgs/PoseStampedArray to nav_msgs/Goals Mar 11, 2025

leander-dsouza marked this pull request as ready for review March 11, 2025 22:47

leander-dsouza marked this pull request as draft March 11, 2025 23:15

leander-dsouza added 8 commits March 12, 2025 00:49

Migrated bt_utils and related files to use nav2_msgs goal.

ab78901

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Migrated goal_updater_node to use nav2_msgs goal.

8f54c49

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Migrated remove_passed_goals_action to use nav_msgs goal.

7a2239d

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Migrated globally_updated_goal_condition to nav_msg goals.

082d3b6

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Migrated goal_updated_condition to use nav_msgs goal.

0c5d424

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Migrate remove_in_collision_goals_action to use nav_msgs goal.

34fc84a

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Migrated navigate_through_poses and compute_path_through_poses_action…

f5f68ef

… to nav_msg goal. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Migrate nav2_system_tests to use nav_msgs goal.

79b738f

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

leander-dsouza marked this pull request as ready for review March 12, 2025 01:16

SteveMacenski approved these changes Mar 12, 2025

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SteveMacenski linked an issue Mar 12, 2025 that may be closed by this pull request

Convert geometry_msgs/msg/PoseStampedArray to nav_msgs/msg/Goals #4976

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SteveMacenski mentioned this pull request Mar 14, 2025

Switch from geometry_msgs/PoseStampedArray to nav_msgs/Goals #4983

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tfoote mentioned this pull request Mar 14, 2025

Complete Removal of PoseStampedArray ros2/common_interfaces#270

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tonynajjar approved these changes Mar 16, 2025

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leander-dsouza mentioned this pull request Mar 16, 2025

Migrate geometry_msgs/PoseStampedArray to nav_msgs/Goals ros-navigation/docs.nav2.org#656

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SteveMacenski merged commit 0179f97 into ros-navigation:main Mar 17, 2025
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Migrate `geometry_msgs/PoseStampedArray` to `nav_msgs/Goals`#4980

Migrate `geometry_msgs/PoseStampedArray` to `nav_msgs/Goals`#4980
SteveMacenski merged 8 commits intoros-navigation:mainfrom
leander-dsouza:migrate_nav_goal_msg

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leander-dsouza commented Mar 11, 2025

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

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