Migrate to Lyrical (rolling) #95

adivardi · 2025-08-04T09:59:07Z

Migrate the code to rolling:

Use Nav2 ROS Common & Nav2 Lifecycle Node
Use declare_or_get_parameter
remove action_server_result_timeout

(Includes changes from #94, since current main is for Jazzy)

adivardi

self review

.github/workflows/lint.yml

opennav_coverage_navigator/src/coverage_navigator.cpp

SteveMacenski · 2025-08-04T19:00:54Z

We need to (unfortunately) build Nav2 or use the nav2_docker Rolling Nightly containers for the testing job in order to have Nav2 installed & have a workspace you can source with its packages.

* update msg for Kilted * [opennav_coverage_bt] migrate BT xml files * migrate coverage_navigator * rm error_msg from ComputeCoveragePath * use newer rostooling docker images, run test for Kilted * run linter on Kilted * use base image

due to wrong includes and to methods that moved from nav2_util to nav2 namespace

to avoid clashes between navigators

SteveMacenski · 2025-08-07T15:52:48Z

The two options would be to vcs-repo-file-url: "${{ github.workspace }}/.github/deps.repos" add Nav2 to this so it builds Nav2 ... which would be alot but possible (will take ~1.5 hours per PR). Ideally we add in building only up to a certain package we require.

Or, we change the base container to use Nav2 Rolling's Nightly, create a new workspace that sources from that, and build (much faster, but more github actions coding)

SteveMacenski · 2025-08-21T15:57:11Z

  C++ exception with description "[Any::convert]: no known safe conversion between [std::shared_ptr<rclcpp::Node>] and [std::shared_ptr<nav2::LifecycleNode>]" thrown in the test body.

This is just a migration error for Rolling t hat something needs to be changed properly to match

C++ exception with description "package 'nav2_bt_navigator' not found, searching: [/__w/opennav_coverage/opennav_coverage/ros_ws/install/opennav_coverage_navigator, /__w/opennav_coverage/opennav_coverage/ros_ws/install/opennav_coverage_bt, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_core, /__w/opennav_coverage/opennav_coverage/ros_ws/install/opennav_coverage, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_costmap_2d, /__w/opennav_coverage/opennav_coverage/ros_ws/install/opennav_coverage_msgs, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_map_server, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_lifecycle_manager, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_behavior_tree, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_util, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_ros_common, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_voxel_grid, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_msgs, /__w/opennav_coverage/opennav_coverage/ros_ws/install/nav2_common, /opt/ros/rolling]" thrown in the test body.

adivardi · 2025-08-22T07:43:47Z

Missed migrating the node in the tests to nav2::LifecycleNode

adivardi · 2025-08-22T14:43:16Z

Now I don't get it. Locally the opennav_coverage_navigator test passes, though there are warnings/error prints

[2025-08-22 09:25:10.223] [test_node] error_code_name_prefixes parameters were not set. Using default values of: assisted_teleop backup compute_path dock_robot drive_on_heading follow_path nav_thru_poses nav_to_pose spin undock_robot wait
7: Make sure these match your BT and there are not other sources of error codes youreported to your application
7: 
[2025-08-22 09:25:10.224] [test_node_navigate_complete_coverage_rclcpp_node] 
7: 	test_node_navigate_complete_coverage_rclcpp_node lifecycle node launched. 
7: 	Waiting on external lifecycle transitions to activate
7: 	See https://design.ros2.org/articles/node_lifecycle.html for more information.
7: 
[2025-08-22 09:25:11.226] [test_node_navigate_complete_coverage_rclcpp_node] "compute_coverage_path" action server not available after waiting for 1.00s
7: 
[2025-08-22 09:25:11.226] [test_node] Setting internal error error_code:801, error_msg:Exception when loading BT: Action server compute_coverage_path not available
7: 
[2025-08-22 09:25:11.226] [test_node] Error loading XML file: /opt/enway/ros2_ws/install/opennav_coverage_bt/share/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage.xml
7: 
[2025-08-22 09:25:11.228] [test_node] Action server is inactive. Rejecting the goal.
7: 
[2025-08-22 09:25:12.228] [test_node] Action server is inactive. Rejecting the goal.
7: 
[2025-08-22 09:25:13.229] [test_node_navigate_complete_coverage_rclcpp_node] Destroying

On the CI, the test seems to fail because the node doesn't shutdown

      [ RUN      ] CoverageNavigatorTests.TestBasicFunctionality
      [INFO] [1755851015.724542836] [test_node]: 
      	test_node lifecycle node launched. 
      	Waiting on external lifecycle transitions to activate
      	See https://design.ros2.org/articles/node_lifecycle.html for more information.
      [INFO] [1755851015.728374626] [test_node]: Destroying
      [WARN] [1755851015.728405254] [rclcpp_lifecycle]: LifecycleNode is not shut down: Node still in state(1) in destructor
      unknown file: Failure

I am not sure about the error
C++ exception with description "package 'nav2_bt_navigator' not found" thrown in the test body.
This package is not built, but it should not be needed

SteveMacenski · 2025-08-26T19:57:31Z

This package is not built, but it should not be needed

I think that's the issue, its trying to find it as a dependency and failing so it quits (I think). I think that exception being thrown is why you see the other error about lifecycle because it is no longer in a recoverable state (either crashed or in the fail state of the lifecycle FSM). Can you try building that instead? It might be that locally you've either built it or its in your path of install from /opt/ros/XYZ to be found

adivardi · 2025-08-27T09:30:07Z

It looks like it is building (I see nav2_bt_navigator in the colcon build output).
Let's try to add it as a dependency

SteveMacenski · 2025-08-27T16:40:27Z

  C++ exception with description "Could not load library: libnav2_path_expiring_timer_condition.so: cannot open shared object file: No such file or directory" thrown in the test body.

Add Nav2 behavior tree -- I think you're just missing the library of BT nodes perhaps. This is a good step forward though

adivardi · 2025-09-01T14:15:40Z

finally passed 🎉

see ros-navigation/navigation2#5471

SteveMacenski

Thanks so much for your diligence, I know this was a pain! Merging 🥳

adivardi commented Aug 4, 2025

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adivardi marked this pull request as ready for review August 4, 2025 16:07

SteveMacenski reviewed Aug 4, 2025

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adivardi and others added 9 commits August 7, 2025 07:45

Migrate to Kilted (open-navigation#94)

d6e41a2

* update msg for Kilted * [opennav_coverage_bt] migrate BT xml files * migrate coverage_navigator * rm error_msg from ComputeCoveragePath * use newer rostooling docker images, run test for Kilted * run linter on Kilted * use base image

Migrate to Lyrical

c653723

fix all compile errors

a70d42f

due to wrong includes and to methods that moved from nav2_util to nav2 namespace

remove leftover declaration

548d8af

fix missing assignment to class members

7684231

make Blackboard variable ID prive to the navigator

0403416

to avoid clashes between navigators

Break long lines

60e3c91

only run CI on rolling

b14cb2c

keep BB ID params outside navigator namespace

1e7ab7c

adivardi force-pushed the lyrical branch from bb38e1c to 1e7ab7c Compare August 7, 2025 14:57

This was referenced Aug 18, 2025

Migrate to Lyrical #96

Closed

Migrate to Lyrical enwaytech/opennav_coverage#4

Merged

adivardi force-pushed the lyrical branch 2 times, most recently from 2388748 to 6db223b Compare August 21, 2025 13:16

Add const

76f32d8

adivardi force-pushed the lyrical branch 2 times, most recently from 686f20c to d5756d6 Compare August 21, 2025 13:34

[.github] install rosdep before build

5743b49

adivardi force-pushed the lyrical branch from d5756d6 to 5743b49 Compare August 21, 2025 13:42

adivardi added 2 commits August 21, 2025 13:55

build nav2 from source

52ef313

Update tf2 & tf2_ros headers

0c3e724

Migrate nodes in tests

be8503c

adivardi mentioned this pull request Aug 22, 2025

Update moved BT Navigator params ros-navigation/docs.nav2.org#768

Merged

adivardi force-pushed the lyrical branch from 674ce2d to 4f650c3 Compare August 25, 2025 06:47

adivardi added 3 commits September 2, 2025 04:35

depend on nav2_bt_navigator

a8927a7

Also build nav2_behavior_tree

b6e8e21

Fix naming for nav2_path_expiring_timer_condition_bt_node

1aac4be

see ros-navigation/navigation2#5471

adivardi force-pushed the lyrical branch from b38608a to 1aac4be Compare September 2, 2025 04:36

SteveMacenski approved these changes Sep 3, 2025

View reviewed changes

SteveMacenski merged commit 396fffa into open-navigation:main Sep 3, 2025
7 checks passed

adivardi deleted the lyrical branch September 4, 2025 04:51

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