fix some tests

[wep21]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• 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 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

[mergify]

@wep21, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[mergify]

@wep21, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• 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 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]

There's 1 linting error copyright=Intel Corporation. (2018), Florian Gramss (2020), license=<unknown> but otherwise the other 3 tests are usually flaky so I assume those are actually fine if everything else is working now!

Thanks for taking this on! What's the next steps here / changes you have in your fork that need to be made here to have CI turn over for Rolling?

[wep21]

@SteveMacenski Could you create a jammy based builder image like
docker build . -t ghcr.io/ros-planning/navigation2:main-jammy --target builder and push it because I don't have a write access to this organization? (How you tag the image is up to you.) I will change the base image after that.

[SteveMacenski]

@ruffsl is our master of such things, I want him to weigh in on this and decide if that's the right call

[mergify]

This pull request is in conflict. Could you fix it @wep21?

[mergify]

@wep21, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

@ruffsl should the user rebase? CI failing with gazebo/ros/dev/plugins and similar missing. I retriggered CI in case it was just an order thing

[wep21]

The docker push action seemed to be failed.
https://github.com/ros-planning/navigation2/runs/6583947311?check_suite_focus=true

[ruffsl]

Yeah, it looks like the GitHub actions for rebuilding the CI image has failed due to broken apt package conflicts. I seem to have been lucky with my local rebuild just hours prior, so I'm not sure what must have changed and that short time window.

In the meantime I'm pushing the builder stage I had built and tagged locally up to GitHub to bootstrap the CI for jammy. However I live in the boonies, so with my upload speed it will take a few hours. 🐌

[mergify]

@wep21, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[wep21]

@SteveMacenski I fixed tests except for costmap filters, and I found out bt_navigator is never activated because of stucking
here. Have you ever seen this behavior?

[SteveMacenski]

The issue I see in CI first is Failed to load node 'controller_server' of type 'nav2_controller::ControllerServer' in container 'nav2_container': Component constructor threw an exception: parameter 'goal_checker_plugins' has invalid type: Wrong parameter type, parameter {goal_checker_plugins} is of type {string_array}, setting it to {string} is not allowed.

Which is weird, some PR rebasing weirdness must have reverted that, @AlexeyMerzlyakov fixed that a few weeks ago. If you change

• https://github.com/ros-planning/navigation2/blob/main/nav2_system_tests/src/costmap_filters/keepout_params.yaml#L112
• https://github.com/ros-planning/navigation2/blob/main/nav2_system_tests/src/costmap_filters/speed_global_params.yaml#L114
• https://github.com/ros-planning/navigation2/blob/main/nav2_system_tests/src/costmap_filters/speed_local_params.yaml#L114

to goal_checker_plugins: ["goal_checker"] that should handle the issue. Or maybe you need to pull in changes and your base branch is out of date?

That could cause the lifecycle manager to fail bringup if the controller server can't be activated so it can't active the BT navigator server. If it did, somehow, get into the activate state, the loadBehaviorTree is called and could hang because we'd be infinitely waiting for the Controller Server to come up https://github.com/ros-planning/navigation2/blob/8a007c8eee054de3a91bddfe80e8c26e0b666fde/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp#L93 which it won't ever.

[SteveMacenski]

#2974 I opened this to see if that change fixes all of the issues, but I suspect it will