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)

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)

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_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)

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)

nav2_collision_monitor/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_collision_monitor)
 
 find_package(ament_cmake REQUIRED)

nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp

@@ -113,7 +113,7 @@ class Circle : public Polygon
    * @brief Updates polygon from radius value
    * @param radius New circle radius to update polygon
    */
-  void updatePolygon(double radius);
+  void updatePolygonFromRadius(double radius);
 
   /**
    * @brief Dynamic circle radius callback

nav2_collision_monitor/src/circle.cpp

@@ -165,7 +165,7 @@ void Circle::createSubscription(std::string & polygon_sub_topic)
   }
 }
 
-void Circle::updatePolygon(double radius)
+void Circle::updatePolygonFromRadius(double radius)
 {
   // Update circle radius
   radius_ = radius;
@@ -190,7 +190,7 @@ void Circle::radiusCallback(std_msgs::msg::Float32::ConstSharedPtr msg)
     logger_,
     "[%s]: Polygon circle radius update has been arrived",
     polygon_name_.c_str());
-  updatePolygon(msg->data);
+  updatePolygonFromRadius(msg->data);
 }
 
 }  // namespace nav2_collision_monitor

nav2_collision_monitor/src/polygon.cpp

@@ -226,7 +226,7 @@ std::vector<std::string> Polygon::getSourcesNames() const
 
 void Polygon::getPolygon(std::vector<Point> & poly) const
 {
-  poly = poly_;
+  poly.assign(poly_.begin(), poly_.end());
 }
 
 bool Polygon::isShapeSet()

nav2_common/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 
 project(nav2_common NONE)
 

nav2_constrained_smoother/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_constrained_smoother)
 
 set(CMAKE_BUILD_TYPE Release) # significant Ceres optimization speedup

nav2_controller/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_controller)
 
 find_package(ament_cmake REQUIRED)

nav2_core/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_core)
 
 find_package(ament_cmake REQUIRED)

nav2_costmap_2d/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_costmap_2d)
 
 find_package(ament_cmake REQUIRED)

nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp

@@ -15,6 +15,7 @@
 #ifndef NAV2_COSTMAP_2D__FOOTPRINT_SUBSCRIBER_HPP_
 #define NAV2_COSTMAP_2D__FOOTPRINT_SUBSCRIBER_HPP_
 
+#include <atomic>
 #include <string>
 #include <vector>
 
@@ -90,8 +91,8 @@ class FootprintSubscriber
   tf2_ros::Buffer & tf_;
   std::string robot_base_frame_;
   double transform_tolerance_;
-  bool footprint_received_{false};
-  geometry_msgs::msg::PolygonStamped::ConstSharedPtr footprint_;
+  std::atomic_bool footprint_received_{false};
+  std::atomic<geometry_msgs::msg::PolygonStamped::ConstSharedPtr> footprint_;
   nav2::Subscription<geometry_msgs::msg::PolygonStamped>::SharedPtr footprint_sub_;
 };
 

nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp

@@ -190,7 +190,7 @@ class LayeredCostmap
   /** @brief Returns the latest footprint stored with setFootprint(). */
   const std::vector<geometry_msgs::msg::Point> & getFootprint()
   {
-    return *std::atomic_load(&footprint_);
+    return *footprint_.load();
   }
 
   /** @brief The radius of a circle centered at the origin of the
@@ -231,7 +231,7 @@ class LayeredCostmap
   bool initialized_;
   bool size_locked_;
   std::atomic<double> circumscribed_radius_, inscribed_radius_;
-  std::shared_ptr<std::vector<geometry_msgs::msg::Point>> footprint_;
+  std::atomic<std::shared_ptr<std::vector<geometry_msgs::msg::Point>>> footprint_;
 };
 
 }  // namespace nav2_costmap_2d

nav2_costmap_2d/plugins/obstacle_layer.cpp

@@ -73,7 +73,7 @@ ObstacleLayer::~ObstacleLayer()
 
 void ObstacleLayer::onInitialize()
 {
-  bool track_unknown_space;
+  bool track_unknown_space = false;
   double transform_tolerance = 0.1;
 
   // The topics that we'll subscribe to from the parameter server

nav2_costmap_2d/src/footprint_subscriber.cpp

@@ -17,10 +17,7 @@
 #include <memory>
 
 #include "nav2_costmap_2d/footprint_subscriber.hpp"
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
 #include "tf2/utils.hpp"
-#pragma GCC diagnostic pop
 
 namespace nav2_costmap_2d
 {
@@ -30,11 +27,15 @@ FootprintSubscriber::getFootprintRaw(
   std::vector<geometry_msgs::msg::Point> & footprint,
   std_msgs::msg::Header & footprint_header)
 {
-  if (!footprint_received_) {
+  if (!footprint_received_.load()) {
+    return false;
+  }
+
+  auto current_footprint = footprint_.load();
+  if (!current_footprint) {
     return false;
   }
 
-  auto current_footprint = std::atomic_load(&footprint_);
   footprint = toPointVector(current_footprint->polygon);
   footprint_header = current_footprint->header;
 
@@ -76,9 +77,9 @@ void
 FootprintSubscriber::footprint_callback(
   const geometry_msgs::msg::PolygonStamped::ConstSharedPtr & msg)
 {
-  std::atomic_store(&footprint_, msg);
-  if (!footprint_received_) {
-    footprint_received_ = true;
+  footprint_.store(msg);
+  if (!footprint_received_.load()) {
+    footprint_received_.store(true);
   }
 }
 

nav2_costmap_2d/src/layered_costmap.cpp

@@ -301,8 +301,7 @@ void LayeredCostmap::setFootprint(const std::vector<geometry_msgs::msg::Point> &
     footprint_spec);
   // use atomic store here since footprint is used by various planners/controllers
   // and not otherwise locked
-  std::atomic_store(
-    &footprint_,
+  footprint_.store(
     std::make_shared<std::vector<geometry_msgs::msg::Point>>(footprint_spec));
   inscribed_radius_.store(std::get<0>(inside_outside));
   circumscribed_radius_.store(std::get<1>(inside_outside));

nav2_docking/opennav_docking/CMakeLists.txt

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

nav2_docking/opennav_docking_bt/CMakeLists.txt

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

nav2_docking/opennav_docking_core/CMakeLists.txt

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

nav2_dwb_controller/costmap_queue/CMakeLists.txt

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

nav2_dwb_controller/dwb_core/CMakeLists.txt

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

nav2_dwb_controller/dwb_critics/CMakeLists.txt

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

nav2_dwb_controller/dwb_msgs/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(dwb_msgs)
 
 find_package(backward_ros REQUIRED)

nav2_dwb_controller/dwb_plugins/CMakeLists.txt

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

nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_dwb_controller)
 
 find_package(ament_cmake REQUIRED)

nav2_dwb_controller/nav_2d_msgs/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav_2d_msgs)
 
 find_package(backward_ros REQUIRED)

nav2_dwb_controller/nav_2d_utils/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav_2d_utils)
 
 find_package(ament_cmake REQUIRED)

nav2_following/opennav_following/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(opennav_following)
 
 find_package(ament_cmake REQUIRED)

nav2_following/opennav_following/test/test_following_server_unit.cpp

@@ -85,7 +85,7 @@ class FollowingServerShim : public FollowingServer
     return FollowingServer::getTrackingPose(pose, frame_id);
   }
 
-  virtual bool rotateToObject(geometry_msgs::msg::PoseStamped &)
+  virtual bool rotateToObject(geometry_msgs::msg::PoseStamped &, const std::string &)
   {
     return true;
   }

nav2_graceful_controller/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_graceful_controller)
 
 find_package(ament_cmake REQUIRED)

nav2_lifecycle_manager/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_lifecycle_manager)
 
 find_package(ament_cmake REQUIRED)

nav2_loopback_sim/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_loopback_sim)
 
 find_package(ament_cmake REQUIRED)

nav2_map_server/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_map_server)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake_modules)

nav2_mppi_controller/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_mppi_controller)
 
 find_package(ament_cmake REQUIRED)

nav2_mppi_controller/test/parameter_handler_test.cpp

@@ -63,10 +63,15 @@ TEST(ParameterHandlerTest, asTypeConversionTest)
   EXPECT_EQ(a.asWrapped<bool>(bool_p), false);
   EXPECT_EQ(a.asWrapped<std::string>(string_p), std::string("hello"));
 
-  EXPECT_EQ(a.asWrapped<std::vector<int64_t>>(intv_p)[0], 1);
-  EXPECT_EQ(a.asWrapped<std::vector<double>>(doublev_p)[0], 10.0);
-  EXPECT_EQ(a.asWrapped<std::vector<bool>>(boolv_p)[0], false);
-  EXPECT_EQ(a.asWrapped<std::vector<std::string>>(stringv_p)[0], std::string("hello"));
+  const auto intv = a.asWrapped<std::vector<int64_t>>(intv_p);
+  const auto doublev = a.asWrapped<std::vector<double>>(doublev_p);
+  const auto boolv = a.asWrapped<std::vector<bool>>(boolv_p);
+  const auto stringv = a.asWrapped<std::vector<std::string>>(stringv_p);
+
+  EXPECT_EQ(intv[0], 1L);
+  EXPECT_DOUBLE_EQ(doublev[0], 10.0);
+  EXPECT_EQ(boolv[0], false);
+  EXPECT_EQ(stringv[0], std::string("hello"));
 }
 
 TEST(ParameterHandlerTest, PrePostDynamicCallbackTest)

nav2_msgs/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_msgs)
 
 find_package(ament_cmake REQUIRED)

nav2_navfn_planner/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_navfn_planner)
 
 find_package(ament_cmake REQUIRED)

nav2_planner/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_planner)
 
 find_package(ament_cmake REQUIRED)

nav2_regulated_pure_pursuit_controller/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_regulated_pure_pursuit_controller)
 
 find_package(ament_cmake REQUIRED)

nav2_ros_common/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_ros_common)
 
 find_package(ament_cmake REQUIRED)

nav2_rotation_shim_controller/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_rotation_shim_controller)
 
 find_package(ament_cmake REQUIRED)

nav2_route/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_route CXX)
 
 find_package(ament_cmake REQUIRED)