From 8a8e26693b534cff7361ced418b321e64e502449 Mon Sep 17 00:00:00 2001 From: estherag Date: Thu, 30 Oct 2025 14:49:50 +0100 Subject: [PATCH 1/3] Update targets for grid_map_ros --- easynav_gridmap_astar_planner/CMakeLists.txt | 5 ++++- easynav_gridmap_maps_manager/CMakeLists.txt | 8 ++++++-- .../src/easynav_gridmap_maps_manager/utils.cpp | 1 + easynav_gridmap_rrtstar_planner/CMakeLists.txt | 5 ++++- 4 files changed, 15 insertions(+), 4 deletions(-) diff --git a/easynav_gridmap_astar_planner/CMakeLists.txt b/easynav_gridmap_astar_planner/CMakeLists.txt index bff87a4..5dd0639 100644 --- a/easynav_gridmap_astar_planner/CMakeLists.txt +++ b/easynav_gridmap_astar_planner/CMakeLists.txt @@ -20,15 +20,18 @@ find_package(grid_map_msgs REQUIRED) add_library(${PROJECT_NAME} SHARED src/easynav_gridmap_astar_planner/GridMapAStarPlanner.cpp ) + target_include_directories(${PROJECT_NAME} PUBLIC $ $ + ${grid_map_ros_INCLUDE_DIRS} ) + target_link_libraries(${PROJECT_NAME} PUBLIC easynav_common::easynav_common easynav_core::easynav_core pluginlib::pluginlib - grid_map_ros::grid_map_ros + ${grid_map_ros_LIBRARIES} ${nav_msgs_TARGETS} ${grid_map_msgs_TARGETS} ) diff --git a/easynav_gridmap_maps_manager/CMakeLists.txt b/easynav_gridmap_maps_manager/CMakeLists.txt index f4a8308..9328648 100644 --- a/easynav_gridmap_maps_manager/CMakeLists.txt +++ b/easynav_gridmap_maps_manager/CMakeLists.txt @@ -30,7 +30,7 @@ set(dependencies rclcpp_lifecycle::rclcpp_lifecycle easynav_common::easynav_common easynav_core::easynav_core - grid_map_ros::grid_map_ros + ${grid_map_ros_LIBRARIES} ament_index_cpp::ament_index_cpp cv_bridge::cv_bridge ${sensor_msgs_TARGETS} @@ -46,11 +46,14 @@ add_library(${PROJECT_NAME} SHARED src/easynav_gridmap_maps_manager/GridmapMapsBuilderNode.cpp src/easynav_gridmap_maps_manager/utils.cpp ) + target_include_directories(${PROJECT_NAME} PUBLIC $ $ $ + ${grid_map_ros_INCLUDE_DIRS} ) + target_link_libraries(${PROJECT_NAME} PUBLIC ${dependencies}) # Executable @@ -59,7 +62,8 @@ target_include_directories(${PROJECT_NAME} PUBLIC $ $ ) -target_link_libraries(gridmap_maps_builder_main ${PROJECT_NAME} ${dependencies}) + +target_link_libraries(gridmap_maps_builder_main ${PROJECT_NAME} ${dependencies} ${grid_map_ros_LIBRARIES}) install( DIRECTORY include/ diff --git a/easynav_gridmap_maps_manager/src/easynav_gridmap_maps_manager/utils.cpp b/easynav_gridmap_maps_manager/src/easynav_gridmap_maps_manager/utils.cpp index 97dd708..7eacc82 100644 --- a/easynav_gridmap_maps_manager/src/easynav_gridmap_maps_manager/utils.cpp +++ b/easynav_gridmap_maps_manager/src/easynav_gridmap_maps_manager/utils.cpp @@ -22,6 +22,7 @@ #include +#include #include "grid_map_msgs/msg/grid_map.hpp" #include "grid_map_ros/grid_map_ros.hpp" diff --git a/easynav_gridmap_rrtstar_planner/CMakeLists.txt b/easynav_gridmap_rrtstar_planner/CMakeLists.txt index 6ff8b99..0bec608 100644 --- a/easynav_gridmap_rrtstar_planner/CMakeLists.txt +++ b/easynav_gridmap_rrtstar_planner/CMakeLists.txt @@ -21,17 +21,20 @@ add_library(${PROJECT_NAME} SHARED src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp src/easynav_gridmap_rrtstar_planner/KDTree.cpp ) + target_include_directories(${PROJECT_NAME} PUBLIC $ $ + ${grid_map_ros_INCLUDE_DIRS} ) + target_link_libraries(${PROJECT_NAME} PUBLIC easynav_common::easynav_common easynav_core::easynav_core pluginlib::pluginlib - grid_map_ros::grid_map_ros ${nav_msgs_TARGETS} ${grid_map_msgs_TARGETS} + ${grid_map_ros_LIBRARIES} ) install( From 5e4388d0eb6fba53306b41f6c0684d853a3b3206 Mon Sep 17 00:00:00 2001 From: estherag Date: Thu, 30 Oct 2025 22:06:55 +0100 Subject: [PATCH 2/3] Change default logging level --- .github/workflows/jazzy.yaml | 49 +++++++++++++++++++ .../GridMapRRTStarPlanner.cpp | 5 +- 2 files changed, 51 insertions(+), 3 deletions(-) create mode 100644 .github/workflows/jazzy.yaml diff --git a/.github/workflows/jazzy.yaml b/.github/workflows/jazzy.yaml new file mode 100644 index 0000000..d275a33 --- /dev/null +++ b/.github/workflows/jazzy.yaml @@ -0,0 +1,49 @@ + +name: jazzy + +on: + pull_request: + branches: + - jazzy + push: + branches: + - jazzy + schedule: + - cron: '0 0 * * 6' +jobs: + build-and-test: + runs-on: ${{ matrix.os }} + strategy: + matrix: + os: [ubuntu-24.04] + fail-fast: false + steps: + - uses: actions/checkout@v4 + with: + ref: jazzy + - name: Setup ROS 2 + uses: ros-tooling/setup-ros@0.7.15 + with: + required-ros-distributions: jazzy + - name: build and test + uses: ros-tooling/action-ros-ci@0.4.5 + with: + package-name: easynav_gridmap_maps_manager easynav_gridmap_astar_planner easynav_gridmap_rrtstar_planner + target-ros2-distro: jazzy + vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos + colcon-defaults: | + { + "test": { + "parallel-workers" : 1 + } + } + colcon-mixin-name: coverage-gcc + colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml + - name: Codecov + uses: codecov/codecov-action@v5.4.0 + with: + files: ros_ws/lcov/total_coverage.info + flags: unittests + name: codecov-umbrella + # yml: ./codecov.yml + fail_ci_if_error: false diff --git a/easynav_gridmap_rrtstar_planner/src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp b/easynav_gridmap_rrtstar_planner/src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp index 2506ee1..2f0f422 100644 --- a/easynav_gridmap_rrtstar_planner/src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp +++ b/easynav_gridmap_rrtstar_planner/src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp @@ -91,7 +91,7 @@ std::expected GridMapRRTStarPlanner::on_initialize() node->declare_parameter(plugin_name + ".spacing", 0.2); node->declare_parameter(plugin_name + ".max_lateral_deviation", 0.5); node->declare_parameter(plugin_name + ".final_poses_with_goal_orientation", 2); - + node->get_parameter(plugin_name + ".max_allowed_slope_deg", max_allowed_slope_deg_); node->get_parameter(plugin_name + ".max_iters", max_iters_); node->get_parameter(plugin_name + ".step_size", step_size_); @@ -109,7 +109,7 @@ std::expected GridMapRRTStarPlanner::on_initialize() path_pub_ = node->create_publisher("planner/path", 10); marker_pub_ = node->create_publisher("planner/marker", 10); - node->get_logger().set_level(rclcpp::Logger::Level::Debug); + node->get_logger().set_level(rclcpp::Logger::Level::Warn); last_goal_pose_.position.x = 0.0; last_goal_pose_.position.y = 0.0; @@ -692,7 +692,6 @@ bool GridMapRRTStarPlanner::check_goal_changed(const geometry_msgs::msg::Pose & return goal_changed; } -// Replace entire update() function: void GridMapRRTStarPlanner::update(NavState & nav_state) { // initial validations From bc0f81c298917427d8aa4a83d639366d7b8ae341 Mon Sep 17 00:00:00 2001 From: estherag Date: Fri, 31 Oct 2025 11:27:08 +0100 Subject: [PATCH 3/3] Remove space --- .../easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/easynav_gridmap_rrtstar_planner/src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp b/easynav_gridmap_rrtstar_planner/src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp index 2f0f422..d77804f 100644 --- a/easynav_gridmap_rrtstar_planner/src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp +++ b/easynav_gridmap_rrtstar_planner/src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp @@ -91,7 +91,6 @@ std::expected GridMapRRTStarPlanner::on_initialize() node->declare_parameter(plugin_name + ".spacing", 0.2); node->declare_parameter(plugin_name + ".max_lateral_deviation", 0.5); node->declare_parameter(plugin_name + ".final_poses_with_goal_orientation", 2); - node->get_parameter(plugin_name + ".max_allowed_slope_deg", max_allowed_slope_deg_); node->get_parameter(plugin_name + ".max_iters", max_iters_); node->get_parameter(plugin_name + ".step_size", step_size_);