Jazzy harmonic migration

[azazdeaz]

Upgrade to Jazzy

Main changes:

• Use pytest with ros2 launch_pytest utils to run the tests instead of launch_test
  • Main differences with launch_test: https://github.com/ros2/launch/tree/rolling/launch_pytest#differences-with-launch_testing
• Run the tests against the official Nav2 examples
• Use Turtlebot 4 insted on the simulation-only sam-bot
• Load waypoints from config files for each test environment.
• Remove the need for building Nav2 from source
• Add a new environment (depot.sdf) to the test scenarios
• Make running with Docker move convenient by setting up build/run/join scripts
• Use less test in more scenarios to utilize the Artefacts config
• Load SDF worlds as XACRO files. This allows to add randomization to the world in the future. (The technique is taken from the Nav2 examples)

Unfortunately, almost all files were changed/moved/removed so reviewing the diff will be probably difficult. Might make more sense to take a look at the source as it is: https://github.com/art-e-fact/navigation2_ignition_gazebo_example/tree/jazzy-harmonic-migration

Dashboard: https://app.artefacts.com/artefacts/navigation2-ignition-example

nav2_gz.mp4

[Copilot]

Copilot reviewed 215 out of 226 changed files in this pull request and generated no comments.

Files not reviewed (11)

• .env.sample: Language not supported
• Dockerfile: Language not supported
• deps.repos: Language not supported
• docker/Dockerfile: Language not supported
• docker/build.bash: Language not supported
• docker/entrypoint.sh: Language not supported
• docker/join.bash: Language not supported
• docker/run.bash: Language not supported
• rerun/.gitignore: Language not supported
• rerun/requirements.txt: Language not supported
• src/nav2_gz_testing/CMakeLists.txt: Language not supported

Comments suppressed due to low confidence (1)

src/nav2_gz_testing/launch/waypoint_follower_example_launch.py:87

• The command arguments include a nested list (["headless:=", headless]) which may not be interpreted correctly. Consider concatenating 'headless:=' with the value of headless or flattening the list before passing to ExecuteProcess.

world_sdf_xacro = ExecuteProcess( cmd=["xacro", "-o", world_sdf, ["headless:=", headless], world] )

[tomonorman]

Thank you, very cool.

So I think some issues / todos we could create for the cli / toolkit could be:

1. Have a. pytest option in artefacts.yaml. (Instead of run that is used in this branch)
2. The rosbag upload logic should apply to framework not ros_testfile if that is the case
3. Cleanup of output_dirs (default=true?) with flag or config
4. get_artefacts_param should have a default fallback (eg if not using artefacts)
5. If there are any pytest fixtures / functions that might be "commonly" used perhaps we should make a artefacts_toolkit.pytest module