Merge remote-tracking branch 'origin/main' into (binary-filter)-change-boolean-ros-params

Author: enricosutera

.devcontainer/caddy/srv/nav2/index.md

@@ -14,9 +14,9 @@
 
 For more related documentation:
 
-- [Nav2 Documentation](https://navigation.ros.org)
-  - [Development Guides](https://navigation.ros.org/development_guides)
-    - [Dev Containers](https://navigation.ros.org/development_guides/devcontainer_docs)
+- [Nav2 Documentation](https://docs.nav2.org)
+  - [Development Guides](https://docs.nav2.org/development_guides)
+    - [Dev Containers](https://docs.nav2.org/development_guides/devcontainer_docs)
 
 ## Session Info
 

.github/PULL_REQUEST_TEMPLATE.md

@@ -38,7 +38,7 @@
 -->
 
 #### For Maintainers: <!-- DO NOT EDIT OR REMOVE -->
-- [ ] Check that any new parameters added are updated in navigation.ros.org
+- [ ] Check that any new parameters added are updated in docs.nav2.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

.github/mergify.yml

@@ -83,7 +83,7 @@ pull_request_rules:
         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 new parameters added are updated in docs.nav2.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

README.md

@@ -1,24 +1,24 @@
 # Nav2
-[![GitHub Workflow Status](https://github.com/ros-planning/navigation2/actions/workflows/update_ci_image.yaml/badge.svg)](https://github.com/ros-planning/navigation2/actions/workflows/update_ci_image.yaml)
-[![codecov](https://codecov.io/gh/ros-planning/navigation2/branch/main/graph/badge.svg?token=S3iRmypwlg)](https://codecov.io/gh/ros-planning/navigation2)
+[![GitHub Workflow Status](https://github.com/ros-navigation/navigation2/actions/workflows/update_ci_image.yaml/badge.svg)](https://github.com/ros-navigation/navigation2/actions/workflows/update_ci_image.yaml)
+[![codecov](https://codecov.io/gh/ros-navigation/navigation2/branch/main/graph/badge.svg?token=S3iRmypwlg)](https://codecov.io/gh/ros-navigation/navigation2)
 
 <p align="center">
   <img height="300" src="doc/nav2_logo.png" />
 </p>
 
 For detailed instructions on how to:
-- [Getting Started](https://navigation.ros.org/getting_started/index.html)
-- [Concepts](https://navigation.ros.org/concepts/index.html)
-- [Build](https://navigation.ros.org/development_guides/build_docs/index.html#build)
-- [Install](https://navigation.ros.org/development_guides/build_docs/index.html#install)
-- [General Tutorials](https://navigation.ros.org/tutorials/index.html) and [Algorithm Developer Tutorials](https://navigation.ros.org/plugin_tutorials/index.html)
-- [Configure](https://navigation.ros.org/configuration/index.html)
-- [Navigation Plugins](https://navigation.ros.org/plugins/index.html)
-- [Migration Guides](https://navigation.ros.org/migration/index.html)
+- [Getting Started](https://docs.nav2.org/getting_started/index.html)
+- [Concepts](https://docs.nav2.org/concepts/index.html)
+- [Build](https://docs.nav2.org/development_guides/build_docs/index.html#build)
+- [Install](https://docs.nav2.org/development_guides/build_docs/index.html#install)
+- [General Tutorials](https://docs.nav2.org/tutorials/index.html) and [Algorithm Developer Tutorials](https://docs.nav2.org/plugin_tutorials/index.html)
+- [Configure](https://docs.nav2.org/configuration/index.html)
+- [Navigation Plugins](https://docs.nav2.org/plugins/index.html)
+- [Migration Guides](https://docs.nav2.org/migration/index.html)
 - [Container Images for Building Nav2](https://github.com/orgs/ros-planning/packages/container/package/navigation2)
-- [Contribute](https://navigation.ros.org/development_guides/involvement_docs/index.html)
+- [Contribute](https://docs.nav2.org/development_guides/involvement_docs/index.html)
 
-Please visit our [documentation site](https://navigation.ros.org/). [Please visit our community Slack here](https://join.slack.com/t/navigation2/shared_invite/zt-hu52lnnq-cKYjuhTY~sEMbZXL8p9tOw) (if this link does not work, please contact maintainers to reactivate).
+Please visit our [documentation site](https://docs.nav2.org/). [Please visit our community Slack here](https://join.slack.com/t/navigation2/shared_invite/zt-hu52lnnq-cKYjuhTY~sEMbZXL8p9tOw) (if this link does not work, please contact maintainers to reactivate).
 
 If you need professional services related to Nav2, please contact Open Navigation at [email protected].
 
@@ -117,7 +117,7 @@ If you use the Regulated Pure Pursuit Controller algorithm or software from this
 | Service | Humble | Iron | Main |
 | :---: | :---: | :---: | :---: |
 | ROS Build Farm | [![Build Status](https://build.ros2.org/job/Hdev__navigation2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__navigation2__ubuntu_jammy_amd64/) | [![Build Status](https://build.ros2.org/job/Idev__navigation2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Idev__navigation2__ubuntu_jammy_amd64/) | N/A |
-| Circle CI | N/A | N/A | [![Build Status](https://circleci.com/gh/ros-planning/navigation2/tree/main.svg?style=svg)](https://circleci.com/gh/ros-planning/navigation2/tree/main) |
+| Circle CI | N/A | N/A | [![Build Status](https://circleci.com/gh/ros-navigation/navigation2/tree/main.svg?style=svg)](https://circleci.com/gh/ros-navigation/navigation2/tree/main) |
 
 
 | Package | Humble Source | Humble Debian | Iron Source | Iron Debian |

nav2_amcl/README.md

@@ -1,4 +1,4 @@
 # AMCL
 Adaptive Monte Carlo Localization (AMCL) is a probabilistic localization module which estimates the position and orientation (i.e. Pose) of a robot in a given known map using a 2D laser scanner. This is largely a refactored port from ROS 1 without any algorithmic changes.
 
-See the [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-amcl.html) for more details about configurable settings and their meanings.
+See the [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-amcl.html) for more details about configurable settings and their meanings.

nav2_amcl/src/amcl_node.cpp

@@ -49,6 +49,7 @@
 #pragma GCC diagnostic pop
 
 #include "nav2_amcl/portable_utils.hpp"
+#include "nav2_util/validate_messages.hpp"
 
 using namespace std::placeholders;
 using rcl_interfaces::msg::ParameterType;
@@ -523,11 +524,8 @@ AmclNode::initialPoseReceived(geometry_msgs::msg::PoseWithCovarianceStamped::Sha
 
   RCLCPP_INFO(get_logger(), "initialPoseReceived");
 
-  if (msg->header.frame_id == "") {
-    // This should be removed at some point
-    RCLCPP_WARN(
-      get_logger(),
-      "Received initial pose with empty frame_id. You should always supply a frame_id.");
+  if (!nav2_util::validateMsg(*msg)) {
+    RCLCPP_ERROR(get_logger(), "Received initialpose message is malformed. Rejecting.");
     return;
   }
   if (nav2_util::strip_leading_slash(msg->header.frame_id) != global_frame_id_) {
@@ -1390,6 +1388,10 @@ void
 AmclNode::mapReceived(const nav_msgs::msg::OccupancyGrid::SharedPtr msg)
 {
   RCLCPP_DEBUG(get_logger(), "AmclNode: A new map was received.");
+  if (!nav2_util::validateMsg(*msg)) {
+    RCLCPP_ERROR(get_logger(), "Received map message is malformed. Rejecting.");
+    return;
+  }
   if (first_map_only_ && first_map_received_) {
     return;
   }

nav2_amcl/src/pf/CMakeLists.txt

@@ -15,6 +15,7 @@ target_include_directories(pf_lib PRIVATE ../include)
 if(HAVE_DRAND48)
   target_compile_definitions(pf_lib PRIVATE "HAVE_DRAND48")
 endif()
+target_link_libraries(pf_lib m)
 
 install(TARGETS
   pf_lib

nav2_behavior_tree/README.md

@@ -7,9 +7,9 @@ The nav2_behavior_tree module provides:
 * Navigation-specific behavior tree nodes, and
 * a generic BehaviorTreeEngine class that simplifies the integration of BT processing into ROS2 nodes for navigation or higher-level autonomy applications.
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-bt-xml.html) for additional parameter descriptions and a list of XML nodes made available in this package. Also review the [Nav2 Behavior Tree Explanation](https://navigation.ros.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. A [tutorial](https://navigation.ros.org/plugin_tutorials/docs/writing_new_bt_plugin.html) is also provided to explain how to create a simple BT plugin.
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-bt-xml.html) for additional parameter descriptions and a list of XML nodes made available in this package. Also review the [Nav2 Behavior Tree Explanation](https://docs.nav2.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. A [tutorial](https://docs.nav2.org/plugin_tutorials/docs/writing_new_bt_plugin.html) is also provided to explain how to create a simple BT plugin.
 
-See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available planner plugins. 
+See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins. 
 
 ## The bt_action_node Template and the Behavior Tree Engine
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -144,8 +144,8 @@ bool BtActionServer<ActionT>::on_configure()
   rclcpp::copy_all_parameter_values(node, client_node_);
 
   // set the timeout in seconds for the action server to discard goal handles if not finished
-  double action_server_result_timeout;
-  node->get_parameter("action_server_result_timeout", action_server_result_timeout);
+  double action_server_result_timeout =
+    node->get_parameter("action_server_result_timeout").as_double();
   rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
 

nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp

@@ -36,7 +36,7 @@ bool PathLongerOnApproach::isPathUpdated(
 {
   return new_path != old_path && old_path.poses.size() != 0 &&
          new_path.poses.size() != 0 &&
-         old_path.poses.back() == new_path.poses.back();
+         old_path.poses.back().pose == new_path.poses.back().pose;
 }
 
 bool PathLongerOnApproach::isRobotInGoalProximity(
@@ -62,12 +62,11 @@ inline BT::NodeStatus PathLongerOnApproach::tick()
   getInput("prox_len", prox_len_);
   getInput("length_factor", length_factor_);
 
-  if (!BT::isStatusActive(status())) {
-    // Reset the starting point since we're starting a new iteration of
-    // PathLongerOnApproach (moving from IDLE to RUNNING)
-    first_time_ = true;
+  if (first_time_ == false) {
+    if (old_path_.poses.back() != new_path_.poses.back()) {
+      first_time_ = true;
+    }
   }
-
   setStatus(BT::NodeStatus::RUNNING);
 
   // Check if the path is updated and valid, compare the old and the new path length,