Fix build in ROS2 Foxy

.circleci/config.yml

@@ -70,6 +70,7 @@ references:
                 (echo vcs_export && cat) >> checksum.txt
               sha256sum $PWD/checksum.txt >> checksum.txt
               apt-get update
+              rosdep update
               dependencies=$(
                 rosdep install -q -y \
                   --from-paths src \
@@ -276,37 +277,6 @@ references:
       file: lcov/project_coverage.info
       flags: project
       when: always
-  setup_doc_dependencies: &setup_doc_dependencies
-    run:
-      name: Install Doc Dependencies
-      command: |
-        apk --no-cache add python3
-        python3 -m ensurepip
-        pip3 install sphinx==1.7.5 docutils==0.14 sphinx_rtd_theme breathe==4.9.1 sphinxcontrib-plantuml
-        apk --no-cache add make
-        apk --no-cache add doxygen
-        apk --no-cache add graphviz
-        apk --no-cache add ttf-dejavu
-        apk --no-cache add openjdk8-jre
-        apk --no-cache add bash git openssh
-  make_docs: &make_docs
-    run:
-      command: |
-        cd src/navigation2/sphinx_doc
-        make html
-  store_docs: &store_docs
-    store_artifacts:
-        path: /opt/overlay_ws/src/navigation2/sphinx_doc/_build/html
-        destination: html
-  publish_docs: &publish_docs
-    run:
-      command: |
-        cd src/navigation2/sphinx_doc
-        make publish
-  install_deployment_key: &install_deployment_key
-    add_ssh_keys:
-      fingerprints:
-        - "0e:8e:90:bf:3d:a9:04:d9:04:b4:62:38:a5:3b:90:7d"
 
 commands:
   <<: *common_commands
@@ -349,19 +319,6 @@ commands:
     steps:
       - *collect_overlay_coverage
       - *upload_overlay_coverage
-  install_doc_dependencies:
-    description: "Install documentation dependencies"
-    steps:
-      - *setup_doc_dependencies
-  build_docs:
-    description: "Build docs"
-    steps:
-      - *make_docs
-      - *store_docs
-  publish_docs_to_gh_pages_branch:
-    description: "Commit newly built docs to gh-pages branch"
-    steps:
-      - *publish_docs
 
 executors:
   debug_exec:
@@ -382,12 +339,6 @@ executors:
       CACHE_NONCE: "Release"
       OVERLAY_MIXINS: "release ccache"
       UNDERLAY_MIXINS: "release ccache"
-  docs_exec:
-    docker:
-      - image: alpine:latest
-    working_directory: /opt/overlay_ws
-    environment:
-      <<: *common_environment
 
 jobs:
   debug_build: &debug_build
@@ -424,25 +375,6 @@ jobs:
     <<: *release_test
     environment:
       RMW_IMPLEMENTATION: "rmw_fastrtps_cpp"
-  docs_build:
-    executor: docs_exec
-    steps:
-      - install_doc_dependencies
-      - *on_checkout
-      - build_docs
-      - persist_to_workspace:
-          root: src/navigation2
-          paths:
-            - sphinx_doc
-  docs_publish:
-    executor: docs_exec
-    steps:
-      - install_doc_dependencies
-      - *on_checkout
-      - *install_deployment_key
-      - attach_workspace:
-          at: src/navigation2
-      - publish_docs_to_gh_pages_branch
 
 workflows:
   version: 2
@@ -456,25 +388,16 @@ workflows:
       - release_test:
           requires:
             - release_build
-  build_and_publish_docs:
-    jobs:
-      - docs_build
-      - docs_publish:
-          requires:
-            - docs_build
-          filters:
-            branches:
-              only: master
   nightly:
     jobs:
       - debug_build
       - debug_test:
           requires:
             - debug_build
       - release_build
-      - test_rmw_connext_cpp:
-          requires:
-            - release_build
+      # - test_rmw_connext_cpp:
+      #     requires:
+      #       - release_build
       - test_rmw_cyclonedds_cpp:
           requires:
             - release_build

.dockerhub/release/hooks/build

@@ -1,7 +1,7 @@
 #!/bin/bash
 set -ex
 
-export FROM_IMAGE=osrf/ros2:nightly-rmw-nonfree
+export FROM_IMAGE=osrf/ros2:nightly
 export FAIL_ON_BUILD_FAILURE=""
 export UNDERLAY_MIXINS="release ccache"
 export OVERLAY_MIXINS="release ccache"

Dockerfile

@@ -7,96 +7,92 @@
 #   --build-arg UNDERLAY_MIXINS \
 #   --build-arg OVERLAY_MIXINS ./
 ARG FROM_IMAGE=osrf/ros2:nightly
+ARG UNDERLAY_WS=/opt/underlay_ws
+ARG OVERLAY_WS=/opt/overlay_ws
 
 # multi-stage for caching
-FROM $FROM_IMAGE AS cache
+FROM $FROM_IMAGE AS cacher
 
 # clone underlay source
-ENV UNDERLAY_WS /opt/underlay_ws
-RUN mkdir -p $UNDERLAY_WS/src
-WORKDIR $UNDERLAY_WS
-COPY ./tools/ros2_dependencies.repos ./
-RUN vcs import src < ros2_dependencies.repos
+ARG UNDERLAY_WS
+WORKDIR $UNDERLAY_WS/src
+COPY ./tools/ros2_dependencies.repos ../
+RUN vcs import ./ < ../ros2_dependencies.repos && \
+    find ./ -name ".git" | xargs rm -rf
 
 # copy overlay source
-ENV OVERLAY_WS /opt/overlay_ws
-RUN mkdir -p $OVERLAY_WS/src
-WORKDIR $OVERLAY_WS
-COPY ./ src/navigation2
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS/src
+COPY ./ ./navigation2
 
 # copy manifests for caching
 WORKDIR /opt
-RUN find ./ -name "package.xml" | \
-      xargs cp --parents -t /tmp && \
+RUN mkdir -p /tmp/opt && \
+    find ./ -name "package.xml" | \
+      xargs cp --parents -t /tmp/opt && \
     find ./ -name "COLCON_IGNORE" | \
-      xargs cp --parents -t /tmp
+      xargs cp --parents -t /tmp/opt || true
 
 # multi-stage for building
-FROM $FROM_IMAGE AS build
+FROM $FROM_IMAGE AS builder
 
 # install CI dependencies
 RUN apt-get update && apt-get install -q -y \
       ccache \
       lcov \
+    && rosdep update \
     && rm -rf /var/lib/apt/lists/*
 
-# copy underlay manifests
-ENV UNDERLAY_WS /opt/underlay_ws
-COPY --from=cache /tmp/underlay_ws $UNDERLAY_WS
-WORKDIR $UNDERLAY_WS
-
 # install underlay dependencies
+ARG UNDERLAY_WS
+WORKDIR $UNDERLAY_WS
+COPY --from=cacher /tmp/$UNDERLAY_WS ./
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
-# copy underlay source
-COPY --from=cache $UNDERLAY_WS ./
-
 # build underlay source
+COPY --from=cacher $UNDERLAY_WS ./
 ARG UNDERLAY_MIXINS="release ccache"
 ARG FAIL_ON_BUILD_FAILURE=True
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     colcon build \
       --symlink-install \
-      --mixin \
-        $UNDERLAY_MIXINS \
+      --mixin $UNDERLAY_MIXINS \
       --event-handlers console_direct+ \
     || touch build_failed && \
     if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
       exit 1; \
     fi
 
-# copy overlay manifests
-ENV OVERLAY_WS /opt/overlay_ws
-COPY --from=cache /tmp/overlay_ws $OVERLAY_WS
-WORKDIR $OVERLAY_WS
-
 # install overlay dependencies
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS
+COPY --from=cacher /tmp/$OVERLAY_WS ./
 RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
+        $UNDERLAY_WS/src \
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
-# copy overlay source
-COPY --from=cache $OVERLAY_WS ./
-
 # build overlay source
+COPY --from=cacher $OVERLAY_WS ./
 ARG OVERLAY_MIXINS="release ccache"
 RUN . $UNDERLAY_WS/install/setup.sh && \
     colcon build \
       --symlink-install \
-      --mixin \
-        $OVERLAY_MIXINS \
+      --mixin $OVERLAY_MIXINS \
     || touch build_failed && \
     if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
       exit 1; \
     fi
 
 # source overlay from entrypoint
+ENV UNDERLAY_WS $UNDERLAY_WS
+ENV OVERLAY_WS $OVERLAY_WS
 RUN sed --in-place \
       's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
       /ros_entrypoint.sh

README.md

@@ -2,15 +2,15 @@
 [![Build Status](https://img.shields.io/docker/pulls/rosplanning/navigation2.svg?maxAge=2592000)](https://hub.docker.com/r/rosplanning/navigation2) [![Build Status](https://img.shields.io/docker/cloud/build/rosplanning/navigation2.svg?label=docker%20build)](https://hub.docker.com/r/rosplanning/navigation2) [![codecov](https://codecov.io/gh/ros-planning/navigation2/branch/master/graph/badge.svg)](https://codecov.io/gh/ros-planning/navigation2)
 
 For detailed instructions on how to:
-- [Getting Started](https://ros-planning.github.io/navigation2/getting_started/index.html)
-- [Build](https://ros-planning.github.io/navigation2/build_instructions/index.html#build)
-- [Install](https://ros-planning.github.io/navigation2/build_instructions/index.html#install)
-- [Tutorials](https://ros-planning.github.io/navigation2/tutorials/index.html)
-- [Configure](https://ros-planning.github.io/navigation2/configuration/index.html)
-- [Navigation Plugins](https://ros-planning.github.io/navigation2/plugins/index.html)
-- [Contribute](https://ros-planning.github.io/navigation2/contribute/index.html)
+- [Getting Started](https://navigation.ros.org/getting_started/index.html)
+- [Build](https://navigation.ros.org/build_instructions/index.html#build)
+- [Install](https://navigation.ros.org/build_instructions/index.html#install)
+- [Tutorials](https://navigation.ros.org/tutorials/index.html)
+- [Configure](https://navigation.ros.org/configuration/index.html)
+- [Navigation Plugins](https://navigation.ros.org/plugins/index.html)
+- [Contribute](https://navigation.ros.org/contribute/index.html)
 
-Please visit our [documentation site](https://ros-planning.github.io/navigation2/).
+Please visit our [documentation site](https://navigation.ros.org/). [Please visit our community Slack here](https://navigation2.slack.com).
 
 | Service | Dashing | Eloquent | Master |
 | :---: | :---: | :---: | :---: |

codecov.yml

@@ -1,2 +1,8 @@
 fixes:
   - "src/navigation2/::"
+
+ignore:
+  - "*/**/test/*"  # ignore package test directories, e.g. nav2_dwb_controller/costmap_queue/tests
+  - "*/test/**/*" # ignore package  test directories, e.g. nav2_costmap_2d/tests
+  - "**/test_*.*" # ignore files starting with test_ e.g.  nav2_map_server/test/test_constants.cpp
+  - "**/*_tests.*" # ignore files ending with _tests e.g. nav2_voxel_grid/test/voxel_grid_tests.cpp