Refactor plugins to use double colons for consistency #4220

alanxuefei · 2024-03-27T11:03:23Z

Tested in Gazobo world.
The turtle bot runs as normal.

The CI/CD process fails due to the rosdep issue during the Docker build stage. I encountered the same issue on my local PC and resolved it by using apt install.

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
dwb_msgs: No definition of [rosidl_default_runtime] for OS version [jammy]
costmap_queue: No definition of [rclcpp] for OS version [jammy]
nav2_behaviors: No definition of [pluginlib] for OS version [jammy]
nav2_common: No definition of [rclpy] for OS version [jammy]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #4194)
Primary OS tested on	(Ubuntu,)
Robotic platform tested on	(gazebo simulation of turtlebot)
Does this PR contain AI generated software?	(No)

Description of contribution in a few bullet points

Description of documentation updates required from your changes

N.A.

Future work that may be required in bullet points

N.A.

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 · 2024-03-27T11:05:00Z

@alanxuefei, 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 · 2024-03-27T11:22:42Z

@alanxuefei, 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 · 2024-03-27T11:36:37Z

@alanxuefei, 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 · 2024-03-27T11:38:53Z

@alanxuefei, 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 · 2024-03-27T13:18:16Z

@alanxuefei, 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 · 2024-03-27T13:27:08Z

@alanxuefei, 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 · 2024-03-27T13:52:57Z

@alanxuefei, 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

Please update the docs with the updated consistency (tutorials/config guide/navigation plugins list/etc) + add to the migration guide since this is a breaking change

alanxuefei · 2024-03-28T13:04:34Z

Please update the docs with the updated consistency (tutorials/config guide/navigation plugins list/etc) + add to the migration guide since this is a breaking change

Ok will create a pull request in https://github.com/ros-planning/navigation.ros.org

alanxuefei · 2024-03-28T13:52:23Z

Please update the docs with the updated consistency (tutorials/config guide/navigation plugins list/etc) + add to the migration guide since this is a breaking change

A pull request is created at ros-navigation/docs.nav2.org#539

alanxuefei · 2024-03-28T15:52:41Z

The following files only appeared on the Nav2 website, not in Nav2 Codes. Therefore, there is no need to factor them in this PR. The Nav2 website has been updated accordingly.

nav2_sms_behavior/SendSms
nav2_gradient_costmap_plugin/GradientLayer
nav2_straightline_planner/StraightLine

SteveMacenski · 2024-03-28T17:13:47Z

OK! I'll review shortly. Last thing on this PR is that the DCO has failed

mergify · 2024-03-29T03:22:02Z

@alanxuefei, 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).

alanxuefei · 2024-03-29T04:42:12Z

**DCO ** — DCO

DCO passed. The signature is added.

SteveMacenski · 2024-03-29T17:29:43Z

@alanxuefei minor clarification is needed in the docs PR, then will merge the pair, thanks!

SteveMacenski · 2024-03-29T17:30:17Z

Actually, please pull in main, CI should be back online again and I want to see that we didn't miss anything here

SteveMacenski · 2024-03-30T18:20:19Z

Docs approved, just need to have main pulled in to run CI and make sure nothing glaring is failing

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

alanxuefei · 2024-03-31T13:08:54Z

Docs approved, just need to have main pulled in to run CI and make sure nothing glaring is failing

Rebased to main.

The number of failed tests are the same as the main branch.
Summary: 3812 tests, 5 errors, 8 failures, 757 skipped

By the way, should we fix the failed tests?

SteveMacenski · 2024-04-02T19:33:11Z

By the way, should we fix the failed tests?

Yes! I just haven't gotten to it yet. I only fixed CI with the Rolling transient issues on Friday. If you wanted to take a few moments to look over the system tests to see what's wrong, that would be greatly appreciated! Only so many hours in the day unfortunately for myself :(

alanxuefei · 2024-04-03T23:02:03Z

By the way, should we fix the failed tests?

Yes! I just haven't gotten to it yet. I only fixed CI with the Rolling transient issues on Friday. If you wanted to take a few moments to look over the system tests to see what's wrong, that would be greatly appreciated! Only so many hours in the day unfortunately for myself :(

I'll try to fix some tests in my spare time. Thanks for the clarification. I thought that some failures might be due to the randomness inherent in the robotic algorithm. Unfortunately, or fortunately, everyone has only 24 hours in a day.

SteveMacenski · 2024-04-04T00:31:18Z

I actually fixed them already :-)

The spin/backup tests are flaky and I've gone over and fixed and refixed them now a dozen times. I'm at really half a mind just to delete them and restart they really shouldn't be rocket science of all the tests we have 😆

…#4220) * Refactor the plugin names for bt_navigator to use double colons Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> * Refactor the plugin names for planner_server to use double colons Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> * Refactor the plugin names for behavior_server to use double colons Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> --------- Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

…#4220) * Refactor the plugin names for bt_navigator to use double colons Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> * Refactor the plugin names for planner_server to use double colons Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> * Refactor the plugin names for behavior_server to use double colons Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> --------- Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> Signed-off-by: enricosutera <enricosutera@outlook.com>

…#4220) * Refactor the plugin names for bt_navigator to use double colons Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> * Refactor the plugin names for planner_server to use double colons Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> * Refactor the plugin names for behavior_server to use double colons Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> --------- Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

alanxuefei force-pushed the main branch 2 times, most recently from fc4de59 to 5ddcf41 Compare March 27, 2024 11:21

alanxuefei force-pushed the main branch 2 times, most recently from c0c421c to e32b513 Compare March 27, 2024 11:35

alanxuefei force-pushed the main branch from e32b513 to 89f2ee2 Compare March 27, 2024 11:37

alanxuefei force-pushed the main branch from 89f2ee2 to 7bcf654 Compare March 27, 2024 13:16

alanxuefei force-pushed the main branch from 7bcf654 to 5b9535c Compare March 27, 2024 13:25

alanxuefei force-pushed the main branch from 5b9535c to aa923ab Compare March 27, 2024 13:51

alanxuefei marked this pull request as ready for review March 27, 2024 13:58

SteveMacenski approved these changes Mar 27, 2024

View reviewed changes

alanxuefei mentioned this pull request Mar 28, 2024

Refactor the plugin names for bt_navigator to use double colons ros-navigation/docs.nav2.org#539

Merged

alanxuefei force-pushed the main branch from aa923ab to d65d818 Compare March 29, 2024 03:20

SteveMacenski approved these changes Mar 29, 2024

View reviewed changes

Refactor the plugin names for bt_navigator to use double colons

15762f3

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

alanxuefei added 2 commits March 30, 2024 23:44

Refactor the plugin names for planner_server to use double colons

8943a50

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

Refactor the plugin names for behavior_server to use double colons

2d6fe9f

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

alanxuefei force-pushed the main branch from d65d818 to 2d6fe9f Compare March 30, 2024 23:44

SteveMacenski merged commit b0e6d3d into ros-navigation:main Apr 2, 2024
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Refactor plugins to use double colons for consistency #4220

Refactor plugins to use double colons for consistency #4220

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Refactor plugins to use double colons for consistency #4220

Refactor plugins to use double colons for consistency #4220

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alanxuefei commented Mar 27, 2024 • edited Loading

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