Update master_umd with latest humble

.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

.dockerignore

@@ -1,10 +1,11 @@
 ################################################################################
 # Repo
 
-.circleci/*
-.git/*
+.circleci/
+.github/
+.git/
+.github/
 .dockerignore
 .gitignore
 **Dockerfile
 **.Dockerfile
-codecov.yml

.github/PULL_REQUEST_TEMPLATE.md

@@ -35,3 +35,12 @@
 * 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 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

.github/dependabot.yml

@@ -0,0 +1,14 @@
+version: 2
+updates:
+  - package-ecosystem: "docker"
+    directory: "/"
+    schedule:
+      interval: "daily"
+    commit-message:
+      prefix: "🐳"
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "daily"
+    commit-message:
+      prefix: "🛠️"

.github/mergify.yml

@@ -0,0 +1,73 @@
+pull_request_rules:
+  - name: backport to galactic at reviewers discretion
+    conditions:
+      - base=main
+      - "label=backport-galactic"
+    actions:
+      backport:
+        branches:
+          - galactic
+
+  - name: backport to foxy at reviewers discretion
+    conditions:
+      - base=main
+      - "label=backport-foxy"
+    actions:
+      backport:
+        branches:
+          - foxy-devel
+
+  - name: delete head branch after merge
+    conditions:
+      - merged
+    actions:
+      delete_head_branch:
+
+  - name: ask to resolve conflict
+    conditions:
+      - conflict
+      - author!=mergify
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @{{author}}?
+
+  - name: development targets main branch
+    conditions:
+      - base!=main
+      - author!=SteveMacenski
+      - author!=mergify
+    actions:
+        comment:
+          message: |
+            @{{author}}, all pull requests must be targeted towards the `main` development branch. 
+            Once merged into `main`, it is possible to backport to @{{base}}, but it must be in `main`
+            to have these changes reflected into new distributions.
+
+  - name: Main build failures
+    conditions:
+      - base=main
+      - or:
+        - "check-failure=ci/circleci: debug_build"
+        - "check-failure=ci/circleci: release_build"
+    actions:
+        comment:
+          message: |
+            @{{author}}, 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).
+
+  - name: Removed maintainer checklist
+    conditions:
+      - "-body~=^.*#### For Maintainers: <!-- DO NOT EDIT OR REMOVE -->.*$"
+      - author!=SteveMacenski
+      - author!=mergify
+    actions:
+        comment:
+          message: |
+            @{{author}}, 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

.github/workflows/update_ci_image.yaml

@@ -0,0 +1,110 @@
+---
+name: Update CI Image
+
+on:
+  schedule:
+    # 7am UTC, 12am PDT
+    - cron:  '0 7 * * *'
+  push:
+    branches:
+      - main
+    paths:
+      - '**/package.xml'
+      - '**/*.repos'
+      - 'Dockerfile'
+
+jobs:
+  check_ci_files:
+    name: Check CI Files
+    runs-on: ubuntu-latest
+    outputs:
+      trigger: ${{ steps.check.outputs.trigger }}
+      no_cache: ${{ steps.check.outputs.no_cache }}
+    steps:
+      - name: "Check package updates"
+        id: check
+        if: github.event_name == 'push'
+        run: |
+          echo "::set-output name=trigger::true"
+          echo "::set-output name=no_cache::false"
+  check_ci_image:
+    name: Check CI Image
+    if: github.event_name == 'schedule'
+    needs: check_ci_files
+    runs-on: ubuntu-latest
+    outputs:
+      trigger: ${{ steps.check.outputs.trigger }}
+      no_cache: ${{ steps.check.outputs.no_cache }}
+    container:
+      image: ghcr.io/ros-planning/navigation2:main
+    steps:
+      - name: "Check apt updates"
+        id: check
+        env:
+          SOURCELIST: sources.list.d/ros2.list
+        run: |
+          apt-get update \
+            -o Dir::Etc::sourcelist="${SOURCELIST}"
+          apt-get --simulate upgrade \
+            -o Dir::Etc::sourcelist="${SOURCELIST}" \
+            > upgrade.log
+          cat upgrade.log
+          cat upgrade.log \
+            | grep "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" \
+            && echo "::set-output name=trigger::false" \
+            || echo "::set-output name=trigger::true"
+          echo "::set-output name=no_cache::true"
+  rebuild_ci_image:
+    name: Rebuild CI Image
+    if: always()
+    needs:
+      - check_ci_files
+      - check_ci_image
+    runs-on: ubuntu-latest
+    steps:
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Login to Docker Hub
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Set build config
+        id: config
+        run: |
+          timestamp=$(date --utc +%Y%m%d%H%M%S)
+          echo "::set-output name=timestamp::${timestamp}"
+
+          no_cache=false
+          if  [ "${{needs.check_ci_files.outputs.no_cache}}" == 'true' ] || \
+              [ "${{needs.check_ci_image.outputs.no_cache}}" == 'true' ]
+          then
+            no_cache=true
+          fi
+          echo "::set-output name=no_cache::${no_cache}"
+
+          trigger=false
+          if  [ "${{needs.check_ci_files.outputs.trigger}}" == 'true' ] || \
+              [ "${{needs.check_ci_image.outputs.trigger}}" == 'true' ]
+          then
+            trigger=true
+          fi
+          echo "::set-output name=trigger::${trigger}"
+      - name: Build and push
+        if: steps.config.outputs.trigger == 'true'
+        id: docker_build
+        uses: docker/build-push-action@v3
+        with:
+          pull: true
+          push: true
+          no-cache: ${{ steps.config.outputs.no_cache }}
+          cache-from: type=registry,ref=ghcr.io/ros-planning/navigation2:main
+          cache-to: type=inline
+          target: builder
+          tags: |
+            ghcr.io/ros-planning/navigation2:main
+            ghcr.io/ros-planning/navigation2:main-${{ steps.config.outputs.timestamp }}
+      - name: Image digest
+        if: steps.config.outputs.trigger == 'true'
+        run: echo ${{ steps.docker_build.outputs.digest }}

.gitignore

@@ -44,5 +44,13 @@ install
 # Python artifacts
 __pycache__/
 *.py[cod]
+.ipynb_checkpoints
 
 sphinx_doc/_build
+
+# CLion artifacts
+.idea
+cmake-build-debug/
+
+# doxygen docs
+doc/html/