OMPL and Qt API update, bump cmake minimum version requirement

nav2_amcl/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_amcl)
 
 find_package(ament_cmake REQUIRED)
@@ -104,20 +104,20 @@ target_include_directories(${library_name}
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${library_name} PUBLIC
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
   message_filters::message_filters
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
-  ${sensor_msgs_TARGETS}
-  ${std_srvs_TARGETS}
+  sensor_msgs::sensor_msgs
+  std_srvs::std_srvs
   pluginlib::pluginlib
   sensors_lib
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
-  ${nav_msgs_TARGETS}
+  nav_msgs::nav_msgs
   tf2_ros::tf2_ros
   tf2::tf2
-  ${nav2_msgs_TARGETS}
+  nav2_msgs::nav2_msgs
 )
 target_link_libraries(${library_name} PRIVATE
   rclcpp_components::component

nav2_behavior_tree/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_behavior_tree CXX)
 
 find_package(ament_cmake REQUIRED)
@@ -32,17 +32,17 @@ target_include_directories(${library_name}
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${library_name} PUBLIC
-  ${action_msgs_TARGETS}
+  action_msgs::action_msgs
   behaviortree_cpp::behaviortree_cpp
-  ${geometry_msgs_TARGETS}
-  ${nav_msgs_TARGETS}
-  ${nav2_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
+  nav_msgs::nav_msgs
+  nav2_msgs::nav2_msgs
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
   rclcpp::rclcpp
   rclcpp_action::rclcpp_action
   rclcpp_lifecycle::rclcpp_lifecycle
-  ${sensor_msgs_TARGETS}
+  sensor_msgs::sensor_msgs
   tf2::tf2
   tf2_ros::tf2_ros
   nav2_ros_common::nav2_ros_common
@@ -283,18 +283,18 @@ foreach(bt_plugin ${plugin_libs})
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
   target_link_libraries(${bt_plugin} PUBLIC
     behaviortree_cpp::behaviortree_cpp
-    ${geometry_msgs_TARGETS}
-    ${nav_msgs_TARGETS}
-    ${nav2_msgs_TARGETS}
+    geometry_msgs::geometry_msgs
+    nav_msgs::nav_msgs
+    nav2_msgs::nav2_msgs
     nav2_util::nav2_util_core
     rclcpp::rclcpp
     rclcpp_action::rclcpp_action
     rclcpp_lifecycle::rclcpp_lifecycle
-    ${sensor_msgs_TARGETS}
+    sensor_msgs::sensor_msgs
     tf2::tf2
     tf2_ros::tf2_ros
-    ${std_msgs_TARGETS}
-    ${std_srvs_TARGETS}
+    std_msgs::std_msgs
+    std_srvs::std_srvs
     nav2_ros_common::nav2_ros_common
   )
   target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)

nav2_behavior_tree/plugins/action/follow_path_action.cpp

@@ -76,7 +76,7 @@ void FollowPathAction::on_wait_for_result(
   getInput("path", new_path);
 
   // Check if it is not same with the current one
-  if (goal_.path != new_path && new_path != nav_msgs::msg::Path()) {
+  if (goal_.path != new_path && !new_path.poses.empty()) {
     // the action server on the next loop iteration
     goal_.path = new_path;
     goal_updated_ = true;

nav2_behavior_tree/test/CMakeLists.txt

@@ -1,13 +1,13 @@
 nav2_add_gtest(test_bt_utils test_bt_utils.cpp)
 target_link_libraries(test_bt_utils
   ${library_name}
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
 )
 
 nav2_add_gtest(test_json_utils test_json_utils.cpp)
 target_link_libraries(test_json_utils
   ${library_name}
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
 )
 
 nav2_add_gtest(test_loop_rate test_loop_rate.cpp)
@@ -19,7 +19,7 @@ target_link_libraries(test_loop_rate
 function(plugin_add_test target filename plugin)
   nav2_add_gtest(${target} ${filename})
   target_link_libraries(${target}
-    ${geometry_msgs_TARGETS}
+    geometry_msgs::geometry_msgs
     nav2_util::nav2_util_core
     behaviortree_cpp::behaviortree_cpp
     ${library_name}

nav2_behavior_tree/test/plugins/action/CMakeLists.txt

@@ -1,7 +1,7 @@
 find_package(test_msgs REQUIRED)
 
 nav2_add_gtest(test_bt_action_node test_bt_action_node.cpp)
-target_link_libraries(test_bt_action_node rclcpp::rclcpp ${test_msgs_TARGETS} rclcpp_action::rclcpp_action ${library_name})
+target_link_libraries(test_bt_action_node rclcpp::rclcpp test_msgs::test_msgs rclcpp_action::rclcpp_action ${library_name})
 
 plugin_add_test(test_action_spin_action test_spin_action.cpp nav2_spin_action_bt_node)
 

nav2_behaviors/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_behaviors)
 
 find_package(ament_cmake REQUIRED)
@@ -34,11 +34,11 @@ target_include_directories(nav2_spin_behavior
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(nav2_spin_behavior PUBLIC
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
   nav2_core::nav2_core
   nav2_costmap_2d::nav2_costmap_2d_client
   nav2_costmap_2d::nav2_costmap_2d_core
-  ${nav2_msgs_TARGETS}
+  nav2_msgs::nav2_msgs
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
   rclcpp::rclcpp
@@ -60,10 +60,10 @@ target_include_directories(nav2_wait_behavior
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(nav2_wait_behavior PUBLIC
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
   nav2_core::nav2_core
   nav2_costmap_2d::nav2_costmap_2d_core
-  ${nav2_msgs_TARGETS}
+  nav2_msgs::nav2_msgs
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
   rclcpp::rclcpp
@@ -81,10 +81,10 @@ target_include_directories(nav2_drive_on_heading_behavior
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(nav2_drive_on_heading_behavior PUBLIC
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
   nav2_core::nav2_core
   nav2_costmap_2d::nav2_costmap_2d_core
-  ${nav2_msgs_TARGETS}
+  nav2_msgs::nav2_msgs
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
   rclcpp::rclcpp
@@ -105,10 +105,10 @@ target_include_directories(nav2_back_up_behavior
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(nav2_back_up_behavior PUBLIC
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
   nav2_core::nav2_core
   nav2_costmap_2d::nav2_costmap_2d_core
-  ${nav2_msgs_TARGETS}
+  nav2_msgs::nav2_msgs
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
   rclcpp::rclcpp
@@ -129,15 +129,15 @@ target_include_directories(nav2_assisted_teleop_behavior
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(nav2_assisted_teleop_behavior PUBLIC
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
   nav2_core::nav2_core
   nav2_costmap_2d::nav2_costmap_2d_core
-  ${nav2_msgs_TARGETS}
+  nav2_msgs::nav2_msgs
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
-  ${std_msgs_TARGETS}
+  std_msgs::std_msgs
   tf2::tf2
   tf2_ros::tf2_ros
 )

nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp

@@ -66,14 +66,14 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     std::string error_msg;
     if (command->target.y != 0.0 || command->target.z != 0.0) {
       error_msg = "DrivingOnHeading in Y and Z not supported, will only move in X.";
-      RCLCPP_INFO(this->logger_, error_msg.c_str());
+      RCLCPP_INFO(this->logger_, "%s", error_msg.c_str());
       return ResultStatus{Status::FAILED, ActionT::Result::INVALID_INPUT, error_msg};
     }
 
     // Ensure that both the speed and direction have the same sign
     if (!((command->target.x > 0.0) == (command->speed > 0.0)) ) {
       error_msg = "Speed and command sign did not match";
-      RCLCPP_ERROR(this->logger_, error_msg.c_str());
+      RCLCPP_ERROR(this->logger_, "%s", error_msg.c_str());
       return ResultStatus{Status::FAILED, ActionT::Result::INVALID_INPUT, error_msg};
     }
 
@@ -89,7 +89,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
         this->transform_tolerance_))
     {
       error_msg = "Initial robot pose is not available.";
-      RCLCPP_ERROR(this->logger_, error_msg.c_str());
+      RCLCPP_ERROR(this->logger_, "%s", error_msg.c_str());
       return ResultStatus{Status::FAILED, ActionT::Result::TF_ERROR, error_msg};
     }
 
@@ -107,7 +107,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
       this->stopRobot();
       std::string error_msg =
         "Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading";
-      RCLCPP_WARN(this->logger_, error_msg.c_str());
+      RCLCPP_WARN(this->logger_, "%s", error_msg.c_str());
       return ResultStatus{Status::FAILED, ActionT::Result::TIMEOUT, error_msg};
     }
 
@@ -117,7 +117,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
         this->transform_tolerance_))
     {
       std::string error_msg = "Current robot pose is not available.";
-      RCLCPP_ERROR(this->logger_, error_msg.c_str());
+      RCLCPP_ERROR(this->logger_, "%s", error_msg.c_str());
       return ResultStatus{Status::FAILED, ActionT::Result::TF_ERROR, error_msg};
     }
 
@@ -168,7 +168,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     if (!isCollisionFree(distance, cmd_vel->twist, pose2d)) {
       this->stopRobot();
       std::string error_msg = "Collision Ahead - Exiting DriveOnHeading";
-      RCLCPP_WARN(this->logger_, error_msg.c_str());
+      RCLCPP_WARN(this->logger_, "%s", error_msg.c_str());
       return ResultStatus{Status::FAILED, ActionT::Result::COLLISION_AHEAD, error_msg};
     }
 

nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp

@@ -279,7 +279,7 @@ class TimedBehavior : public nav2_core::Behavior
         case Status::FAILED:
           result->error_code = on_cycle_update_result.error_code;
           result->error_msg = behavior_name_ + " failed:" + on_cycle_update_result.error_msg;
-          RCLCPP_WARN(logger_, result->error_msg.c_str());
+          RCLCPP_WARN(logger_, "%s", result->error_msg.c_str());
           result->total_elapsed_time = clock_->now() - start_time;
           onActionCompletion(result);
           action_server_->terminate_current(result);

nav2_behaviors/plugins/back_up.cpp

@@ -21,7 +21,7 @@ ResultStatus BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> comma
 {
   if (command->target.y != 0.0 || command->target.z != 0.0) {
     std::string error_msg = "Backing up in Y and Z not supported, will only move in X.";
-    RCLCPP_INFO(logger_, error_msg.c_str());
+    RCLCPP_INFO(logger_, "%s", error_msg.c_str());
     return ResultStatus{Status::FAILED, BackUpActionResult::INVALID_INPUT, error_msg};
   }
 
@@ -38,7 +38,7 @@ ResultStatus BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> comma
       transform_tolerance_))
   {
     std::string error_msg = "Initial robot pose is not available.";
-    RCLCPP_ERROR(logger_, error_msg.c_str());
+    RCLCPP_ERROR(logger_, "%s", error_msg.c_str());
     return ResultStatus{Status::FAILED, BackUpActionResult::TF_ERROR, error_msg};
   }
 

nav2_behaviors/plugins/spin.cpp

@@ -63,7 +63,7 @@ ResultStatus Spin::onRun(const std::shared_ptr<const SpinActionGoal> command)
       transform_tolerance_))
   {
     std::string error_msg = "Current robot pose is not available.";
-    RCLCPP_ERROR(logger_, error_msg.c_str());
+    RCLCPP_ERROR(logger_, "%s", error_msg.c_str());
     return ResultStatus{Status::FAILED, SpinActionResult::TF_ERROR, error_msg};
   }
 
@@ -88,7 +88,7 @@ ResultStatus Spin::onCycleUpdate()
   if (time_remaining.seconds() < 0.0 && command_time_allowance_.seconds() > 0.0) {
     stopRobot();
     std::string error_msg = "Exceeded time allowance before reaching the Spin goal - Exiting Spin";
-    RCLCPP_WARN(logger_, error_msg.c_str());
+    RCLCPP_WARN(logger_, "%s", error_msg.c_str());
     return ResultStatus{Status::FAILED, SpinActionResult::TIMEOUT, error_msg};
   }
 
@@ -98,7 +98,7 @@ ResultStatus Spin::onCycleUpdate()
       transform_tolerance_))
   {
     std::string error_msg = "Current robot pose is not available.";
-    RCLCPP_ERROR(logger_, error_msg.c_str());
+    RCLCPP_ERROR(logger_, "%s", error_msg.c_str());
     return ResultStatus{Status::FAILED, SpinActionResult::TF_ERROR, error_msg};
   }
 
@@ -134,7 +134,7 @@ ResultStatus Spin::onCycleUpdate()
   if (!isCollisionFree(relative_yaw_, cmd_vel->twist, pose)) {
     stopRobot();
     std::string error_msg = "Collision Ahead - Exiting Spin";
-    RCLCPP_WARN(logger_, error_msg.c_str());
+    RCLCPP_WARN(logger_, "%s", error_msg.c_str());
     return ResultStatus{Status::FAILED, SpinActionResult::COLLISION_AHEAD, error_msg};
   }
 

nav2_behaviors/test/CMakeLists.txt

@@ -1,4 +1,4 @@
 nav2_add_gtest(test_behaviors
   test_behaviors.cpp
 )
-target_link_libraries(test_behaviors rclcpp::rclcpp rclcpp_action::rclcpp_action ${nav2_msgs_TARGETS} ${library_name})
+target_link_libraries(test_behaviors rclcpp::rclcpp rclcpp_action::rclcpp_action nav2_msgs::nav2_msgs ${library_name})

nav2_bringup/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_bringup)
 
 find_package(ament_cmake REQUIRED)

nav2_bringup/launch/bringup_launch.py

@@ -169,9 +169,14 @@ def generate_launch_description() -> LaunchDescription:
                 name=container_name,
                 namespace=namespace,
                 package='rclcpp_components',
-                executable='component_container_isolated',
+                executable='component_container',
                 parameters=[configured_params, {'autostart': autostart}],
-                arguments=['--ros-args', '--log-level', log_level],
+                # event executor + isolated + thread num = 1
+                arguments=['--isolated', '--executor-type', 'events-cbg',
+                           '--ros-args', '--log-level', log_level, '-p', 'thread_num:=1'],
+                # single threaded + isolated
+                # arguments=['--isolated', '--executor-type', 'single-threaded',
+                #            '--ros-args', '--log-level', log_level],
                 remappings=remappings,
                 output='screen',
             ),

nav2_bt_navigator/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_bt_navigator)
 
 find_package(ament_cmake REQUIRED)
@@ -69,12 +69,12 @@ target_include_directories(nav2_navigate_to_pose_navigator
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(nav2_navigate_to_pose_navigator PUBLIC
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
   nav2_core::nav2_core
-  ${nav2_msgs_TARGETS}
+  nav2_msgs::nav2_msgs
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
-  ${nav_msgs_TARGETS}
+  nav_msgs::nav_msgs
   rclcpp::rclcpp
   rclcpp_action::rclcpp_action
 )
@@ -92,10 +92,10 @@ target_include_directories(nav2_navigate_through_poses
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(nav2_navigate_through_poses PUBLIC
-  ${geometry_msgs_TARGETS}
+  geometry_msgs::geometry_msgs
   nav2_core::nav2_core
-  ${nav2_msgs_TARGETS}
-  ${nav_msgs_TARGETS}
+  nav2_msgs::nav2_msgs
+  nav_msgs::nav_msgs
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
   rclcpp::rclcpp