test

.circleci/defaults.yaml

@@ -0,0 +1,16 @@
+_common: &common
+  "test-result-base": "test_results"
+
+"clean.packages":
+  <<: *common
+"build":
+  <<: *common
+  "executor": "parallel"
+  "parallel-workers": 2
+  "symlink-install": true
+"test":
+  <<: *common
+  "executor": "parallel"
+  "parallel-workers": 1
+"test-result":
+  <<: *common

.dockerhub/debug/hooks/build → .dockerhub/builder/hooks/build

@@ -1,15 +1,14 @@
 #!/bin/bash
 set -ex
 
-export FROM_IMAGE=osrf/ros2:nightly
+export FROM_IMAGE=osrf/ros2:testing
 export FAIL_ON_BUILD_FAILURE=""
 export UNDERLAY_MIXINS="release ccache"
-export OVERLAY_MIXINS="debug ccache coverage-gcc"
 
 docker build \
+    --target builder \
     --tag ${IMAGE_NAME} \
     --build-arg FROM_IMAGE \
     --build-arg FAIL_ON_BUILD_FAILURE \
     --build-arg UNDERLAY_MIXINS \
-    --build-arg OVERLAY_MIXINS \
     --file ../../Dockerfile ../../.

.dockerhub/distro.Dockerfile

@@ -6,14 +6,14 @@
 #
 # Example build command:
 # export DOCKER_BUILDKIT=1
-# export FROM_IMAGE="ros:foxy"
+# export FROM_IMAGE="ros:rolling"
 # export OVERLAY_MIXINS="release ccache"
-# docker build -t nav2:foxy \
+# docker build -t nav2:rolling \
 #   --build-arg FROM_IMAGE \
 #   --build-arg OVERLAY_MIXINS \
 #   -f distro.Dockerfile ../
 
-ARG FROM_IMAGE=ros:foxy
+ARG FROM_IMAGE=ros:rolling
 ARG OVERLAY_WS=/opt/overlay_ws
 
 # multi-stage for caching

.github/PULL_REQUEST_TEMPLATE.md

@@ -35,3 +35,11 @@
 * I see alot of redundancy in this package, we might want to add a function `bool XYZ()` to reduce clutter
 * I tested on a differential drive robot, but there might be issues turning near corners on an omnidirectional platform
 -->
+
+#### For Maintainers: <!-- DO NOT EDIT OR REMOVE -->
+- [ ] Check that any new parameters added are updated in navigation.ros.org
+- [ ] Check that any significant change is added to the migration 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

.github/workflows/trigger_dockerhub.yaml

@@ -0,0 +1,52 @@
+---
+name: Trigger Docker Hub
+
+on:
+  schedule:
+  # 7am UTC, 12am PDT
+  - cron:  '0 7 * * *'
+  push:
+    branches:
+    - main
+    paths:
+    - '**/package.xml'
+    - '**/*.repos'
+
+jobs:
+  rebuild_dockerhub:
+    name: Trigger Docker Hub
+    runs-on: ubuntu-latest
+    container:
+      image: rosplanning/navigation2:main
+    steps:
+      - name: "Initialize environment"
+        run: |
+          echo "TRIGGER=false" >> $GITHUB_ENV
+      - name: "Check apt updates"
+        if: ${{ github.event_name == 'schedule' }}
+        env:
+          SOURCELIST: sources.list.d/ros2.list
+        run: |
+          apt-get update \
+            -o Dir::Etc::sourcelist="${SOURCELIST}"
+          apt-get --simulate upgrade \
+            -o Dir::Etc::sourcelist="${SOURCELIST}" \
+            | grep "0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded." \
+            && echo "No apt updates" || echo "TRIGGER=true" >> $GITHUB_ENV
+      - name: "Check package updates"
+        if: ${{ github.event_name == 'push' }}
+        run: |
+          echo "TRIGGER=true" >> $GITHUB_ENV
+      - name: "Trigger Dockerhub URL"
+        if: ${{ fromJSON(env.TRIGGER) }}
+        env:
+          DATA: |
+            {
+              "source_type": "Branch",
+              "source_name": "main"
+            }
+        run: |
+          echo ${DATA} \
+            | curl -H "Content-Type: application/json" \
+              --data @- \
+              -X POST ${{ secrets.DOCKERHUB_TRIGGER_URL }}

.gitignore

@@ -46,3 +46,7 @@ __pycache__/
 *.py[cod]
 
 sphinx_doc/_build
+
+# CLion artifacts
+.idea
+cmake-build-debug/

Dockerfile

@@ -2,11 +2,11 @@
 # Build context must be the /navigation2 root folder for COPY.
 # Example build command:
 # export UNDERLAY_MIXINS="debug ccache"
-# export OVERLAY_MIXINS="debug ccache coverage"
+# export OVERLAY_MIXINS="debug ccache coverage-gcc"
 # docker build -t nav2:latest \
 #   --build-arg UNDERLAY_MIXINS \
 #   --build-arg OVERLAY_MIXINS ./
-ARG FROM_IMAGE=osrf/ros2:nightly
+ARG FROM_IMAGE=osrf/ros2:testing
 ARG UNDERLAY_WS=/opt/underlay_ws
 ARG OVERLAY_WS=/opt/overlay_ws
 
@@ -17,8 +17,7 @@ FROM $FROM_IMAGE AS cacher
 ARG UNDERLAY_WS
 WORKDIR $UNDERLAY_WS/src
 COPY ./tools/underlay.repos ../
-RUN vcs import ./ < ../underlay.repos && \
-    find ./ -name ".git" | xargs rm -rf
+RUN vcs import ./ < ../underlay.repos
 
 # copy overlay source
 ARG OVERLAY_WS
@@ -27,25 +26,45 @@ COPY ./ ./navigation2
 
 # copy manifests for caching
 WORKDIR /opt
-RUN mkdir -p /tmp/opt && \
-    find ./ -name "package.xml" | \
-      xargs cp --parents -t /tmp/opt && \
-    find ./ -name "COLCON_IGNORE" | \
-      xargs cp --parents -t /tmp/opt || true
+RUN find . -name "src" -type d \
+      -mindepth 1 -maxdepth 2 -printf '%P\n' \
+      | xargs -I % mkdir -p /tmp/opt/% && \
+    find . -name "package.xml" \
+      | xargs cp --parents -t /tmp/opt && \
+    find . -name "COLCON_IGNORE" \
+      | xargs cp --parents -t /tmp/opt || true
 
 # multi-stage for building
 FROM $FROM_IMAGE AS builder
+
+# config dependencies install
 ARG DEBIAN_FRONTEND=noninteractive
+RUN echo '\
+APT::Install-Recommends "0";\n\
+APT::Install-Suggests "0";\n\
+' > /etc/apt/apt.conf.d/01norecommend
 
 # install CI dependencies
-RUN apt-get update && apt-get install -q -y \
+ARG RTI_NC_LICENSE_ACCEPTED=yes
+RUN apt-get update && \
+    apt-get upgrade -y && \
+    apt-get install -y \
       ccache \
       lcov \
+      python3-pip \
+      ros-$ROS_DISTRO-rmw-fastrtps-cpp \
+      ros-$ROS_DISTRO-rmw-connextdds \
+      ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+    && pip3 install \
+      fastcov \
+      git+https://github.com/ruffsl/colcon-cache.git@c1cedadc1ac6131fe825d075526ed4ae8e1b473c \
+      git+https://github.com/ruffsl/colcon-clean.git@87dee2dd1e47c2b97ac6d8300f76e3f607d19ef6 \
     && rosdep update \
     && rm -rf /var/lib/apt/lists/*
 
 # install underlay dependencies
 ARG UNDERLAY_WS
+ENV UNDERLAY_WS $UNDERLAY_WS
 WORKDIR $UNDERLAY_WS
 COPY --from=cacher /tmp/$UNDERLAY_WS ./
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
@@ -61,7 +80,9 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
 COPY --from=cacher $UNDERLAY_WS ./
 ARG UNDERLAY_MIXINS="release ccache"
 ARG FAIL_ON_BUILD_FAILURE=True
+ARG CCACHE_DIR=".ccache"
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon cache lock && \
     colcon build \
       --symlink-install \
       --mixin $UNDERLAY_MIXINS \
@@ -70,30 +91,32 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
 
 # install overlay dependencies
 ARG OVERLAY_WS
+ENV OVERLAY_WS $OVERLAY_WS
 WORKDIR $OVERLAY_WS
 COPY --from=cacher /tmp/$OVERLAY_WS ./
 RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
-        $UNDERLAY_WS/src \
       --skip-keys " \
         slam_toolbox \
         "\
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
+# multi-stage for testing
+FROM builder AS tester
+
 # build overlay source
 COPY --from=cacher $OVERLAY_WS ./
 ARG OVERLAY_MIXINS="release ccache"
 RUN . $UNDERLAY_WS/install/setup.sh && \
+    colcon cache lock && \
     colcon build \
       --symlink-install \
       --mixin $OVERLAY_MIXINS \
     || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)
 
 # source overlay from entrypoint
-ENV UNDERLAY_WS $UNDERLAY_WS
-ENV OVERLAY_WS $OVERLAY_WS
 RUN sed --in-place \
       's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
       /ros_entrypoint.sh

Doxyfile

@@ -771,7 +771,7 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT = src
+INPUT = .
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses