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Adapt rolling pose2d deprecated#5343

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SteveMacenski merged 9 commits intoros-navigation:mainfrom
fmrico:adapt_rolling_pose2d_deprecated
Jul 17, 2025
Merged

Adapt rolling pose2d deprecated#5343
SteveMacenski merged 9 commits intoros-navigation:mainfrom
fmrico:adapt_rolling_pose2d_deprecated

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@fmrico fmrico commented Jul 10, 2025

Basic Info

Info Please fill out this column
Ticket(s) this addresses #5338
Primary OS tested on Ubuntu
Robotic platform tested on gazebo simulation of Tally
Does this PR contain AI generated software? No

Description of contribution in a few bullet points

Description of documentation updates required from your changes

  • I have updated doxygen/docs in the code, but not in any other place.

Description of how this change was tested

  • Pass tests with colcon test
  • Checked functionality in tb3_simulation_launch.py

Future work that may be required in bullet points

  • I think there are still some problems in tests, not related to my changes, which come from newer versions of rolling and the compiler.

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
  • Should this be backported to current distributions? If so, tag with backport-*.

fmrico added 5 commits July 9, 2025 07:40
@fmrico
Fix target_link_libraries dependency on nav2_ros_common
5c7282c 
Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
@fmrico
Update/Fix CMakeLists for last rolling changes
dc3d7e5 
Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
@fmrico
Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg:…
0e50e18 
…:Pose

Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
@fmrico
Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg:…
618aa9f 
…:Pose

Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
@fmrico
Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg:…
fa4f913 
…:Pose

Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
@SteveMacenski SteveMacenski linked an issue Jul 10, 2025 that may be closed by this pull request
geometry_msgs::msg::Pose2D deprecation #5338
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SteveMacenski
SteveMacenski reviewed Jul 10, 2025
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I got through 102/136 files, so this isn't a complete accounting but what I found so far (not much, really)

fmrico added 2 commits July 11, 2025 07:12
@fmrico
Use nav2_util for creating quaternions
f46f639 
Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
@fmrico
Use standard messages
f4fab39 
Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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fmrico commented Jul 11, 2025

Hi Steve,

Following your review, I have:

  1. Used orientationAroundZAxis for creating quaternion messages.
  2. Removed nav_2d_msgs/msg/Path2D, using nav_msgs/msg/Path instead.
  3. Removed nav_2d_msgs/msg/Pose2DStamped, using geometry_msgs/msg/PaseStamped instead.
  4. Removed conversion functions that are no longer needed because of the previous points.

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codecov bot commented Jul 11, 2025 •
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Codecov Report

Attention: Patch coverage is 93.24324% with 10 lines in your changes missing coverage. Please review.

Files with missing lines Patch % Lines
nav2_dwb_controller/dwb_core/src/publisher.cpp 42.85% 4 Missing ⚠️
...av2_dwb_controller/dwb_critics/src/oscillation.cpp 0.00% 2 Missing ⚠️
...v2_dwb_controller/nav_2d_utils/src/conversions.cpp 66.66% 2 Missing ⚠️
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp 0.00% 1 Missing ⚠️
..._dwb_controller/dwb_critics/src/rotate_to_goal.cpp 66.66% 1 Missing ⚠️
Files with missing lines Coverage Δ
...include/nav2_behaviors/plugins/assisted_teleop.hpp 100.00% <ø> (ø)
...nclude/nav2_behaviors/plugins/drive_on_heading.hpp 92.78% <100.00%> (+0.86%) ⬆️
..._behaviors/include/nav2_behaviors/plugins/spin.hpp 100.00% <ø> (ø)
nav2_behaviors/plugins/assisted_teleop.cpp 88.88% <100.00%> (-0.14%) ⬇️
nav2_behaviors/plugins/spin.cpp 87.05% <100.00%> (-0.16%) ⬇️
.../nav2_controller/plugins/pose_progress_checker.hpp 100.00% <ø> (ø)
nav2_controller/plugins/pose_progress_checker.cpp 96.66% <100.00%> (-0.11%) ⬇️
...av2_controller/plugins/simple_progress_checker.cpp 100.00% <100.00%> (ø)
...nav2_costmap_2d/costmap_filters/costmap_filter.hpp 66.66% <ø> (ø)
...av2_costmap_2d/costmap_topic_collision_checker.hpp 100.00% <ø> (ø)
... and 46 more

... and 3 files with indirect coverage changes

🚀 New features to boost your workflow:
  • ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

SteveMacenski
SteveMacenski requested changes Jul 14, 2025
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LGTM - a few small changes but I got through all the files and I should be able to just merge it in after these

I appreciate your diligence on this. I know this isn't the most fun thing in the world

@fmrico
Minor changes from review
2d999bc 
Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
MarcoMatteoBassa
MarcoMatteoBassa reviewed Jul 16, 2025
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SteveMacenski
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Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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SteveMacenski commented Jul 17, 2025

@fmrico the aws_graph.geojson file is changed again, I'm going to go ahead and merge this and manually change that back for the sake of time and your sanity :-)

@SteveMacenski SteveMacenski merged commit a4cb7aa into ros-navigation:main Jul 17, 2025
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fmrico commented Jul 17, 2025

@fmrico the aws_graph.geojson file is changed again, I'm going to go ahead and merge this and manually change that back for the sake of time and your sanity :-)

Thanks @SteveMacenski !!

@fmrico fmrico deleted the adapt_rolling_pose2d_deprecated branch July 17, 2025 18:07
@hyunsehyun hyunsehyun mentioned this pull request Nov 5, 2025
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geometry_msgs::msg::Pose2D deprecation

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@fmrico @SteveMacenski @MarcoMatteoBassa