Sync changes with nav2 (#120)

Signed-off-by: mini-1235 <[email protected]>

Author: mini-1235

nav2_gradient_costmap_plugin/CMakeLists.txt

@@ -48,5 +48,12 @@ install(TARGETS ${lib_name}
 # file into "share" directory and sets ament indexes for it.
 # This allows the plugin to be discovered as a plugin of required type.
 pluginlib_export_plugin_description_file(nav2_costmap_2d gradient_layer.xml)
-ament_target_dependencies(${lib_name} ${dep_pkgs})
+target_link_libraries(nav2_gradient_costmap_plugin_core PUBLIC
+  nav2_costmap_2d::filters
+  nav2_costmap_2d::layers
+  nav2_costmap_2d::nav2_costmap_2d_client
+  nav2_costmap_2d::nav2_costmap_2d_core
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+)
 ament_package()

nav2_pure_pursuit_controller/CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(tf2 REQUIRED)
+find_package(nav2_ros_common REQUIRED)
 
 nav2_package()
 
@@ -27,6 +28,7 @@ set(dependencies
   nav2_util
   nav2_core
   tf2
+  nav2_ros_common
 )
 
 add_library(nav2_pure_pursuit_controller SHARED
@@ -35,8 +37,19 @@ add_library(nav2_pure_pursuit_controller SHARED
 # prevent pluginlib from using boost
 target_compile_definitions(nav2_pure_pursuit_controller PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
-ament_target_dependencies(nav2_pure_pursuit_controller
-  ${dependencies}
+target_link_libraries(nav2_pure_pursuit_controller PUBLIC
+  ${geometry_msgs_TARGETS}
+  ${nav_msgs_TARGETS}
+  nav2_core::nav2_core
+  nav2_costmap_2d::filters
+  nav2_costmap_2d::layers
+  nav2_costmap_2d::nav2_costmap_2d_client
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_ros_common::nav2_ros_common
+  nav2_util::nav2_util_core
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  tf2::tf2
 )
 
 install(TARGETS nav2_pure_pursuit_controller

nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp

@@ -16,6 +16,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "pluginlib/class_loader.hpp"
 #include "pluginlib/class_list_macros.hpp"
+#include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 
 namespace nav2_pure_pursuit_controller
 {
@@ -27,7 +29,7 @@ class PurePursuitController : public nav2_core::Controller
   ~PurePursuitController() override = default;
 
   void configure(
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+    const nav2::LifecycleNode::WeakPtr & parent,
     std::string name, const std::shared_ptr<tf2_ros::Buffer> tf,
     const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
@@ -55,7 +57,7 @@ class PurePursuitController : public nav2_core::Controller
     const rclcpp::Duration & transform_tolerance
   ) const;
 
-  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
+  nav2::LifecycleNode::WeakPtr node_;
   std::shared_ptr<tf2_ros::Buffer> tf_;
   std::string plugin_name_;
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
@@ -68,7 +70,7 @@ class PurePursuitController : public nav2_core::Controller
   rclcpp::Duration transform_tolerance_ {0, 0};
 
   nav_msgs::msg::Path global_plan_;
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>> global_pub_;
+  std::shared_ptr<nav2::Publisher<nav_msgs::msg::Path>> global_pub_;
 };
 
 }  // namespace nav2_pure_pursuit_controller

nav2_pure_pursuit_controller/package.xml

@@ -18,6 +18,7 @@
   <depend>nav2_msgs</depend>
   <depend>pluginlib</depend>
   <depend>tf2</depend>
+  <depend>nav2_ros_common</depend>
 
   <exec_depend>nav2_bringup</exec_depend>
 

nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp

@@ -12,15 +12,14 @@
 
 #include "nav2_core/controller_exceptions.hpp"
 #include "nav2_core/planner_exceptions.hpp"
-#include "nav2_util/node_utils.hpp"
 #include "nav2_pure_pursuit_controller/pure_pursuit_controller.hpp"
 #include "nav2_util/geometry_utils.hpp"
 
 using std::hypot;
 using std::min;
 using std::max;
 using std::abs;
-using nav2_util::declare_parameter_if_not_declared;
+using nav2::declare_parameter_if_not_declared;
 using nav2_util::geometry_utils::euclidean_distance;
 
 namespace nav2_pure_pursuit_controller
@@ -48,7 +47,7 @@ Iter min_by(Iter begin, Iter end, Getter getCompareVal)
 }
 
 void PurePursuitController::configure(
-  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  const nav2::LifecycleNode::WeakPtr & parent,
   std::string name, const std::shared_ptr<tf2_ros::Buffer> tf,
   const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 {

nav2_sms_behavior/CMakeLists.txt

@@ -62,13 +62,34 @@ add_library(${library_name} SHARED
 
 target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
-ament_target_dependencies(${library_name}
-  ${dependencies}
-)
-
 rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-target_link_libraries(${library_name}  "${cpp_typesupport_target}")
-
+target_link_libraries(nav2_sms_behavior_plugin PUBLIC
+  ${builtin_interfaces_TARGETS}
+  ${geometry_msgs_TARGETS}
+  ${nav2_msgs_TARGETS}
+  ${nav_msgs_TARGETS}
+  ${std_msgs_TARGETS}
+  ${visualization_msgs_TARGETS}
+  nav2_behaviors::behavior_server_core
+  nav2_behaviors::nav2_assisted_teleop_behavior
+  nav2_behaviors::nav2_back_up_behavior
+  nav2_behaviors::nav2_drive_on_heading_behavior
+  nav2_behaviors::nav2_spin_behavior
+  nav2_behaviors::nav2_wait_behavior
+  nav2_core::nav2_core
+  nav2_costmap_2d::filters
+  nav2_costmap_2d::layers
+  nav2_costmap_2d::nav2_costmap_2d_client
+  nav2_costmap_2d::nav2_costmap_2d_core
+  nav2_util::nav2_util_core
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_action::rclcpp_action
+  rclcpp_lifecycle::rclcpp_lifecycle
+  tf2_ros::static_transform_broadcaster_node
+  tf2_ros::tf2_ros
+  ${cpp_typesupport_target}
+)
 
 pluginlib_export_plugin_description_file(nav2_core behavior_plugin.xml)
 

nav2_straightline_planner/CMakeLists.txt

@@ -24,6 +24,7 @@ find_package(tf2_ros REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
 find_package(nav2_core REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(nav2_ros_common)
 
 include_directories(
   include
@@ -46,14 +47,32 @@ set(dependencies
   nav2_costmap_2d
   nav2_core
   pluginlib
+  nav2_ros_common
 )
 
 add_library(${library_name} SHARED
   src/straight_line_planner.cpp
 )
 
-ament_target_dependencies(${library_name}
-  ${dependencies}
+target_link_libraries(nav2_straightline_planner_plugin PUBLIC
+    ${builtin_interfaces_TARGETS}
+    ${geometry_msgs_TARGETS}
+    ${nav2_msgs_TARGETS}
+    ${nav_msgs_TARGETS}
+    ${std_msgs_TARGETS}
+    ${visualization_msgs_TARGETS}
+    nav2_core::nav2_core
+    nav2_costmap_2d::filters
+    nav2_costmap_2d::layers
+    nav2_costmap_2d::nav2_costmap_2d_client
+    nav2_costmap_2d::nav2_costmap_2d_core
+    nav2_util::nav2_util_core
+    nav2_ros_common::nav2_ros_common
+    pluginlib::pluginlib
+    rclcpp::rclcpp
+    rclcpp_action::rclcpp_action
+    rclcpp_lifecycle::rclcpp_lifecycle
+    tf2_ros::tf2_ros
 )
 
 target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")

nav2_straightline_planner/include/nav2_straightline_planner/straight_line_planner.hpp

@@ -51,7 +51,8 @@
 #include "nav2_core/global_planner.hpp"
 #include "nav_msgs/msg/path.hpp"
 #include "nav2_util/robot_utils.hpp"
-#include "nav2_util/lifecycle_node.hpp"
+#include "nav2_ros_common/lifecycle_node.hpp"
+#include "nav2_ros_common/node_utils.hpp"
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 
 namespace nav2_straightline_planner
@@ -65,7 +66,7 @@ class StraightLine : public nav2_core::GlobalPlanner
 
   // plugin configure
   void configure(
-    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+    const nav2::LifecycleNode::WeakPtr & parent,
     std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
@@ -89,7 +90,7 @@ class StraightLine : public nav2_core::GlobalPlanner
   std::shared_ptr<tf2_ros::Buffer> tf_;
 
   // node ptr
-  nav2_util::LifecycleNode::SharedPtr node_;
+  nav2::LifecycleNode::SharedPtr node_;
 
   // Global Costmap
   nav2_costmap_2d::Costmap2D * costmap_;

nav2_straightline_planner/package.xml

@@ -23,6 +23,7 @@
   <depend>nav2_costmap_2d</depend>
   <depend>nav2_core</depend>
   <depend>pluginlib</depend>
+  <depend>nav2_ros_common</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

nav2_straightline_planner/src/straight_line_planner.cpp

@@ -41,15 +41,14 @@
 #include <cmath>
 #include <string>
 #include <memory>
-#include "nav2_util/node_utils.hpp"
 
 #include "nav2_straightline_planner/straight_line_planner.hpp"
 
 namespace nav2_straightline_planner
 {
 
 void StraightLine::configure(
-  const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
+  const nav2::LifecycleNode::WeakPtr & parent,
   std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 {
@@ -60,7 +59,7 @@ void StraightLine::configure(
   global_frame_ = costmap_ros->getGlobalFrameID();
 
   // Parameter initialization
-  nav2_util::declare_parameter_if_not_declared(
+  nav2::declare_parameter_if_not_declared(
     node_, name_ + ".interpolation_resolution", rclcpp::ParameterValue(
       0.1));
   node_->get_parameter(name_ + ".interpolation_resolution", interpolation_resolution_);