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‎.circleci/config.yml

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‎.circleci/defaults.yaml

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_common: &common
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"test-result-base": "test_results"
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"clean.packages":
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<<: *common
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"build":
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<<: *common
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"executor": "parallel"
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"parallel-workers": 2
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"symlink-install": true
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"test":
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<<: *common
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"executor": "parallel"
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"parallel-workers": 1
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"test-result":
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<<: *common

‎.github/ISSUE_TEMPLATE.md

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<!--
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For general questions, please ask on ROS answers: https://answers.ros.org, make sure to include at least the `ros2` tag and the rosdistro version you are running, e.g. `ardent`.
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For general design discussions, please post on discourse: https://discourse.ros.org/c/ng-ros
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Not sure if this is the right repository? Open an issue on https://github.com/ros-planning/navigation2
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For Bug report or feature requests, please fill out the relevant category below
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-->
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## Bug report
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**Required Info:**
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- Operating System:
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- <!-- OS and version (e.g. Windows 10, Ubuntu 16.04...) -->
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- ROS2 Version:
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- <!-- ROS2 distribution and install method (e.g. Foxy binaries, Dashing source...) -->
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- Version or commit hash:
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- <!-- from source: output of `git -C navigation2 rev-parse HEAD
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apt binaries: output of: dpkg-query --show "ros-$ROS_DISTRO-navigation2"
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or: dpkg-query --show "ros-$ROS_DISTRO-nav2-*" -->
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- DDS implementation:
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- <!-- rmw_implementation used (e.g. Fast-RTPS, RTI Connext, etc.) -->
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#### Steps to reproduce issue
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<!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/
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``` code that can be copy-pasted is preferred ``` -->
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```
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```
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#### Expected behavior
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#### Actual behavior
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#### Additional information
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<!-- If you are reporting a bug delete everything below
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If you are requesting a feature deleted everything above this line -->
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----
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## Feature request
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#### Feature description
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<!-- Description in a few sentences what the feature consists of and what problem it will solve -->
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#### Implementation considerations
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<!-- Relevant information on how the feature could be implemented and pros and cons of the different solutions -->

‎.github/PULL_REQUEST_TEMPLATE.md

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<!-- Please fill out the following pull request template for non-trivial changes to help us process your PR faster and more efficiently.-->
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---
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## Basic Info
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| Info | Please fill out this column |
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| ------ | ----------- |
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| Ticket(s) this addresses | (add tickets here #1) |
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| Primary OS tested on | (Ubuntu, MacOS, Windows) |
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| Robotic platform tested on | (Steve's Robot, gazebo simulation of Tally, hardware turtlebot) |
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---
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## Description of contribution in a few bullet points
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<!--
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* I added this neat new feature
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* Also fixed a typo in a parameter name in nav2_costmap_2d
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-->
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## Description of documentation updates required from your changes
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<!--
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* Added new parameter, so need to add that to default configs and documentation page
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* I added some capabilities, need to document them
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-->
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---
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## Future work that may be required in bullet points
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<!--
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* I think there might be some optimizations to be made from STL vector
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* I see alot of redundancy in this package, we might want to add a function `bool XYZ()` to reduce clutter
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* I tested on a differential drive robot, but there might be issues turning near corners on an omnidirectional platform
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-->
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#### For Maintainers: <!-- DO NOT EDIT OR REMOVE -->
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- [ ] Check that any new parameters added are updated in navigation.ros.org
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- [ ] Check that any significant change is added to the migration guide
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- [ ] Check that any new features **OR** changes to existing behaviors are reflected in the tuning guide
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- [ ] Check that any new functions have Doxygen added
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- [ ] Check that any new features have test coverage
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- [ ] Check that any new plugins is added to the plugins page
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- [ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

‎.github/dependabot.yml

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version: 2
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updates:
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- package-ecosystem: "docker"
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directory: "/"
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schedule:
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interval: "daily"
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commit-message:
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prefix: "🐳"
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- package-ecosystem: "github-actions"
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directory: "/"
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schedule:
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interval: "daily"
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commit-message:
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prefix: "🛠️"

‎.github/mergify.yml

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pull_request_rules:
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- name: backport to humble at reviewers discretion
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conditions:
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- base=main
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- "label=backport-humble"
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actions:
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backport:
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branches:
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- humble
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- name: backport to galactic at reviewers discretion
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conditions:
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- base=main
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- "label=backport-galactic"
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actions:
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backport:
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branches:
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- galactic
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- name: backport to foxy at reviewers discretion
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conditions:
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- base=main
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- "label=backport-foxy"
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actions:
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backport:
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branches:
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- foxy-devel
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- name: delete head branch after merge
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conditions:
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- merged
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actions:
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delete_head_branch:
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- name: ask to resolve conflict
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conditions:
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- conflict
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- author!=mergify
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actions:
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comment:
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message: This pull request is in conflict. Could you fix it @{{author}}?
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- name: development targets main branch
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conditions:
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- base!=main
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- author!=SteveMacenski
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- author!=mergify
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actions:
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comment:
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message: |
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@{{author}}, all pull requests must be targeted towards the `main` development branch.
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Once merged into `main`, it is possible to backport to @{{base}}, but it must be in `main`
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to have these changes reflected into new distributions.
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- name: Main build failures
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conditions:
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- base=main
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- or:
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- "check-failure=ci/circleci: debug_build"
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- "check-failure=ci/circleci: release_build"
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actions:
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comment:
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message: |
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@{{author}}, your PR has failed to build. Please check CI outputs and resolve issues.
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You may need to rebase or pull in `main` due to API changes (or your contribution genuinely fails).
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- name: Removed maintainer checklist
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conditions:
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- "-body~=^.*#### For Maintainers: <!-- DO NOT EDIT OR REMOVE -->.*$"
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- author!=SteveMacenski
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- author!=mergify
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actions:
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comment:
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message: |
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@{{author}}, please properly fill in PR template in the future. @stevemacenski, use this instead.
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- [ ] Check that any new parameters added are updated in navigation.ros.org
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- [ ] Check that any significant change is added to the migration guide
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- [ ] Check that any new features **OR** changes to existing behaviors are reflected in the tuning guide
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- [ ] Check that any new functions have Doxygen added
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- [ ] Check that any new features have test coverage
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- [ ] Check that any new plugins is added to the plugins page
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- [ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

‎.github/workflows/update_ci_image.yaml

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---
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name: Update CI Image
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on:
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schedule:
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# 7am UTC, 12am PDT
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- cron: '0 7 * * *'
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push:
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branches:
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- main
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paths:
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- '**/package.xml'
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- '**/*.repos'
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- 'Dockerfile'
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jobs:
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check_ci_files:
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name: Check CI Files
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runs-on: ubuntu-latest
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outputs:
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trigger: ${{ steps.check.outputs.trigger }}
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no_cache: ${{ steps.check.outputs.no_cache }}
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steps:
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- name: "Check package updates"
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id: check
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if: github.event_name == 'push'
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run: |
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echo "::set-output name=trigger::true"
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echo "::set-output name=no_cache::false"
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check_ci_image:
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name: Check CI Image
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if: github.event_name == 'schedule'
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needs: check_ci_files
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runs-on: ubuntu-latest
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outputs:
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trigger: ${{ steps.check.outputs.trigger }}
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no_cache: ${{ steps.check.outputs.no_cache }}
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container:
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image: ghcr.io/ros-planning/navigation2:main
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steps:
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- name: "Check apt updates"
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id: check
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env:
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SOURCELIST: sources.list.d/ros2.list
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run: |
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apt-get update \
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-o Dir::Etc::sourcelist="${SOURCELIST}"
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apt-get --simulate upgrade \
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-o Dir::Etc::sourcelist="${SOURCELIST}" \
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> upgrade.log
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cat upgrade.log
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cat upgrade.log \
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| grep "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" \
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&& echo "::set-output name=trigger::false" \
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|| echo "::set-output name=trigger::true"
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echo "::set-output name=no_cache::true"
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rebuild_ci_image:
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name: Rebuild CI Image
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if: always()
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needs:
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- check_ci_files
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- check_ci_image
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runs-on: ubuntu-latest
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steps:
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v2
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- name: Login to Docker Hub
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uses: docker/login-action@v2
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with:
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registry: ghcr.io
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username: ${{ github.repository_owner }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Set build config
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id: config
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run: |
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timestamp=$(date --utc +%Y%m%d%H%M%S)
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echo "::set-output name=timestamp::${timestamp}"
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no_cache=false
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if [ "${{needs.check_ci_files.outputs.no_cache}}" == 'true' ] || \
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[ "${{needs.check_ci_image.outputs.no_cache}}" == 'true' ]
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then
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no_cache=true
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fi
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echo "::set-output name=no_cache::${no_cache}"
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trigger=false
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if [ "${{needs.check_ci_files.outputs.trigger}}" == 'true' ] || \
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[ "${{needs.check_ci_image.outputs.trigger}}" == 'true' ]
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then
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trigger=true
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fi
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echo "::set-output name=trigger::${trigger}"
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- name: Build and push
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if: steps.config.outputs.trigger == 'true'
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id: docker_build
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uses: docker/build-push-action@v3
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with:
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pull: true
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push: true
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no-cache: ${{ steps.config.outputs.no_cache }}
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cache-from: type=registry,ref=ghcr.io/ros-planning/navigation2:main
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cache-to: type=inline
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target: builder
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tags: |
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ghcr.io/ros-planning/navigation2:main
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ghcr.io/ros-planning/navigation2:main-${{ steps.config.outputs.timestamp }}
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- name: Image digest
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if: steps.config.outputs.trigger == 'true'
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run: echo ${{ steps.docker_build.outputs.digest }}

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