[WIP] Fix CI build issues

nav2_controller/src/nav2_controller.cpp

@@ -339,7 +339,7 @@ void ControllerServer::setPlannerPath(const nav_msgs::msg::Path & path)
 
   auto end_pose = path.poses.back();
   end_pose.header.frame_id = path.header.frame_id;
-  rclcpp::Duration tolerance(costmap_ros_->getTransformTolerance() * 1e9);
+  rclcpp::Duration tolerance(rclcpp::Duration::from_seconds(costmap_ros_->getTransformTolerance()));
   nav_2d_utils::transformPose(
     costmap_ros_->getTfBuffer(), costmap_ros_->getGlobalFrameID(),
     end_pose, end_pose, tolerance);

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -39,6 +39,7 @@
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 
 #include <memory>
+#include <chrono>
 #include <string>
 #include <vector>
 #include <utility>
@@ -319,7 +320,7 @@ Costmap2DROS::getParameters()
   if (map_publish_frequency_ > 0) {
     publish_cycle_ = rclcpp::Duration::from_seconds(1 / map_publish_frequency_);
   } else {
-    publish_cycle_ = rclcpp::Duration(-1);
+    publish_cycle_ = rclcpp::Duration(-1s);
   }
 
   // 3. If the footprint has been specified, it must be in the correct format
@@ -393,7 +394,7 @@ Costmap2DROS::mapUpdateLoop(double frequency)
     timer.end();
 
     RCLCPP_DEBUG(get_logger(), "Map update time: %.9f", timer.elapsed_time_in_seconds());
-    if (publish_cycle_ > rclcpp::Duration(0) && layered_costmap_->isInitialized()) {
+    if (publish_cycle_ > rclcpp::Duration(0s) && layered_costmap_->isInitialized()) {
       unsigned int x0, y0, xn, yn;
       layered_costmap_->getBounds(&x0, &xn, &y0, &yn);
       costmap_publisher_->updateBounds(x0, xn, y0, yn);

nav2_costmap_2d/src/observation_buffer.cpp

@@ -40,9 +40,11 @@
 #include <list>
 #include <string>
 #include <vector>
+#include <chrono>
 
 #include "tf2/convert.h"
 #include "sensor_msgs/point_cloud2_iterator.hpp"
+using namespace std::chrono_literals;
 
 namespace nav2_costmap_2d
 {
@@ -180,7 +182,7 @@ void ObservationBuffer::purgeStaleObservations()
   if (!observation_list_.empty()) {
     std::list<Observation>::iterator obs_it = observation_list_.begin();
     // if we're keeping observations for no time... then we'll only keep one observation
-    if (observation_keep_time_ == rclcpp::Duration(0.0)) {
+    if (observation_keep_time_ == rclcpp::Duration(0.0s)) {
       observation_list_.erase(++obs_it, observation_list_.end());
       return;
     }
@@ -202,7 +204,7 @@ void ObservationBuffer::purgeStaleObservations()
 
 bool ObservationBuffer::isCurrent() const
 {
-  if (expected_update_rate_ == rclcpp::Duration(0.0)) {
+  if (expected_update_rate_ == rclcpp::Duration(0.0s)) {
     return true;
   }
 

nav2_costmap_2d/test/integration/test_costmap_topic_collision_checker.cpp

@@ -15,6 +15,7 @@
 #include <string>
 #include <vector>
 #include <memory>
+#include <chrono>
 
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
@@ -230,7 +231,7 @@ class TestCollisionChecker : public nav2_util::LifecycleNode
   {
     geometry_msgs::msg::TransformStamped tf_stamped;
     tf_stamped.header.frame_id = "map";
-    tf_stamped.header.stamp = now() + rclcpp::Duration(1.0);
+    tf_stamped.header.stamp = now() + rclcpp::Duration(1.0ns);
     tf_stamped.child_frame_id = "base_link";
     tf_stamped.transform.translation.x = x;
     tf_stamped.transform.translation.y = y;

nav2_dwb_controller/dwb_critics/include/dwb_critics/oscillation.hpp

@@ -37,8 +37,11 @@
 
 #include <vector>
 #include <string>
+#include <chrono>
 #include "dwb_core/trajectory_critic.hpp"
 
+using namespace std::chrono_literals;  // NOLINT
+
 namespace dwb_critics
 {
 
@@ -80,7 +83,7 @@ class OscillationCritic : public dwb_core::TrajectoryCritic
 {
 public:
   OscillationCritic()
-  : oscillation_reset_time_(0) {}
+  : oscillation_reset_time_(0s) {}
   void onInit() override;
   bool prepare(
     const geometry_msgs::msg::Pose2D & pose, const nav_2d_msgs::msg::Twist2D & vel,

nav2_lifecycle_manager/src/lifecycle_manager.cpp

@@ -156,7 +156,10 @@ LifecycleManager::createBondConnection(const std::string & node_name)
     bond_map_[node_name]->setHeartbeatTimeout(timeout_s);
     bond_map_[node_name]->setHeartbeatPeriod(0.10);
     bond_map_[node_name]->start();
-    if (!bond_map_[node_name]->waitUntilFormed(rclcpp::Duration(timeout_ns / 2))) {
+    if (
+      !bond_map_[node_name]->waitUntilFormed(
+        rclcpp::Duration(rclcpp::Duration::from_nanoseconds(timeout_ns / 2))))
+    {
       RCLCPP_ERROR(
         get_logger(),
         "Server %s was unable to be reached after %0.2fs by bond. "

nav2_recoveries/plugins/wait.cpp

@@ -44,7 +44,7 @@ Status Wait::onCycleUpdate()
   auto time_left =
     std::chrono::duration_cast<std::chrono::nanoseconds>(wait_end_ - current_point).count();
 
-  feedback_->time_left = rclcpp::Duration(time_left);
+  feedback_->time_left = rclcpp::Duration(rclcpp::Duration::from_nanoseconds(time_left));
   action_server_->publish_feedback(feedback_);
 
   if (time_left > 0) {

nav2_rviz_plugins/src/nav2_panel.cpp

@@ -20,6 +20,7 @@
 #include <memory>
 #include <vector>
 #include <utility>
+#include <chrono>
 
 #include "nav2_rviz_plugins/goal_common.hpp"
 #include "rviz_common/display_context.hpp"
@@ -629,7 +630,7 @@ Nav2Panel::updateWpNavigationMarkers()
     arrow_marker.color.g = 255;
     arrow_marker.color.b = 0;
     arrow_marker.color.a = 1.0f;
-    arrow_marker.lifetime = rclcpp::Duration(0);
+    arrow_marker.lifetime = rclcpp::Duration(0s);
     arrow_marker.frame_locked = false;
     marker_array->markers.push_back(arrow_marker);
 
@@ -647,7 +648,7 @@ Nav2Panel::updateWpNavigationMarkers()
     circle_marker.color.g = 0;
     circle_marker.color.b = 0;
     circle_marker.color.a = 1.0f;
-    circle_marker.lifetime = rclcpp::Duration(0);
+    circle_marker.lifetime = rclcpp::Duration(0s);
     circle_marker.frame_locked = false;
     marker_array->markers.push_back(circle_marker);
 
@@ -666,7 +667,7 @@ Nav2Panel::updateWpNavigationMarkers()
     marker_text.color.g = 255;
     marker_text.color.b = 0;
     marker_text.color.a = 1.0f;
-    marker_text.lifetime = rclcpp::Duration(0);
+    marker_text.lifetime = rclcpp::Duration(0s);
     marker_text.frame_locked = false;
     marker_text.text = "wp_" + std::to_string(i + 1);
     marker_array->markers.push_back(marker_text);

nav2_system_tests/src/planning/planner_tester.cpp

@@ -133,7 +133,7 @@ void PlannerTester::updateRobotPosition(const geometry_msgs::msg::Point & positi
   }
   std::cout << now().nanoseconds() << std::endl;
 
-  base_transform_->header.stamp = now() + rclcpp::Duration(250000000);
+  base_transform_->header.stamp = now() + rclcpp::Duration(0.25s);
   base_transform_->transform.translation.x = position.x;
   base_transform_->transform.translation.y = position.y;
   base_transform_->transform.rotation.w = 1.0;

nav2_system_tests/src/recoveries/backup/test_backup_recovery_launch.py

@@ -59,13 +59,13 @@ def generate_launch_description():
         #              using a local copy of TB3 urdf file
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']),
 
         Node(
             package='tf2_ros',
-            node_executable='static_transform_publisher',
+            executable='static_transform_publisher',
             output='screen',
             arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']),
 

nav2_system_tests/src/recoveries/backup/test_backup_recovery_node.cpp

@@ -85,7 +85,7 @@ TEST_P(BackupRecoveryTestFixture, testBackupRecovery)
 // remain as a reminder to update this to a `false` case once the
 // recovery server returns true values.
 
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
   BackupRecoveryTests,
   BackupRecoveryTestFixture,
   ::testing::Values(

nav2_system_tests/src/recoveries/spin/test_spin_recovery_node.cpp

@@ -13,7 +13,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
-#include <gtest/gtest.h>
 #include <cmath>
 #include <tuple>
 #include <string>
@@ -76,7 +75,7 @@ TEST_P(SpinRecoveryTestFixture, testSpinRecovery)
   EXPECT_EQ(true, success);
 }
 
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
   SpinRecoveryTests,
   SpinRecoveryTestFixture,
   ::testing::Values(

nav2_system_tests/src/recoveries/wait/test_wait_recovery_node.cpp

@@ -80,7 +80,7 @@ TEST_P(WaitRecoveryTestFixture, testSWaitRecovery)
   EXPECT_EQ(true, success);
 }
 
-INSTANTIATE_TEST_CASE_P(
+INSTANTIATE_TEST_SUITE_P(
   WaitRecoveryTests,
   WaitRecoveryTestFixture,
   ::testing::Values(

nav2_waypoint_follower/plugins/input_at_waypoint.cpp

@@ -39,7 +39,7 @@ void InputAtWaypoint::initialize(
   const std::string & plugin_name)
 {
   auto node = parent.lock();
-  
+
   if (!node) {
     throw std::runtime_error{"Failed to lock node in input at waypoint plugin!"};
   }

smac_planner/test/test_a_star.cpp

@@ -153,7 +153,7 @@ TEST(AStarTest, test_a_star_se2)
   EXPECT_TRUE(a_star.createPath(path, num_it, tolerance));
 
   // check path is the right size and collision free
-  EXPECT_EQ(num_it, 61);
+  EXPECT_EQ(num_it, 44);
   EXPECT_EQ(path.size(), 75u);
   for (unsigned int i = 0; i != path.size(); i++) {
     EXPECT_EQ(costmapA->getCost(path[i].x, path[i].y), 0);

tools/underlay.repos

@@ -21,8 +21,8 @@ repositories:
     version: ros2
   ros/bond_core:
     type: git
-    url: https://github.com/ros/bond_core.git
-    version: ros2
+    url: https://github.com/stevemacenski/bond_core.git
+    version: fix_deprecation_warning
   ompl/ompl:
     type: git
     url: https://github.com/ompl/ompl.git