Metapackage + Reorg + build script updates (#107)

* moved over * moving all messages into an internal msgs metapackage grouping * moving all the messages into a homologated package * making necessary changes for the msgs package homologation * adding metapackage * adding myself as a maintainer * build script and doc updates for package in workspace * dealing with merge issues * remove author fields * moving around * merge conflict v3 * remove costmap 2d from utils * killing src dir * remove costmap 2d clone #3 * remove extraneous file * kill dwa for some reason * dwb rectification * removing oregon author -> maintainer * controller -> nav2_controller * adding new msgs to new things * tags * bringup pkg * compiling with task status mode * getting the task status to compile for dwa * adding costmap2d into nav2 naming nominclature * adding controller metapackage * recursive definitions -- bringup cannot be inside of the metapackage * kill bad line * hopefully actual last git merge error... * changelog resolve
ros-navigation · Oct 10, 2018 · ac932ea · ac932ea
1 parent 8a8b344
commit ac932ea
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diff --git a/doc/BUILD.md b/doc/BUILD.md
@@ -19,8 +19,8 @@ RUN apt-get install -y \
 Third, ensure there are no ROS environment variables set in your terminal or `.bashrc` file before taking the steps below.*
 
 ```sh
-mkdir <workspace_dir>
-cd <workspace_dir>
+mkdir <directory_for_workspaces>
+cd <directory_for_workspaces>
 wget https://raw.githubusercontent.com/ros-planning/navigation2/master/tools/initial_ros_setup.sh
 chmod a+x initial_ros_setup.sh
 ./initial_ros_setup.sh
@@ -38,7 +38,7 @@ The `initial_ros_setup.sh` script downloads four ROS workspaces and then builds
 
  * Navigation 2 - This repo.
 
- After all the workspaces are downloaded, the `navigtion2/tools/build_all.sh` script is run which builds each repo in the order listed above using the `colcon build --symlink-install` command (except ROS 1 dependencies which are built using `catkin_make`)
+ After all the workspaces are downloaded, the `navigation2/tools/build_all.sh` script is run which builds each repo in the order listed above using the `colcon build --symlink-install` command (except ROS 1 dependencies which are built using `catkin_make`)
 
 ### Options
 
@@ -58,13 +58,13 @@ Most work will be done in the `navigation2` workspace, so just building that wil
 
 To build just `navigation2`,
 ```sh
-cd <workspace_dir>/navigation2
+cd <directory_for_workspaces>/navigation2_ws
 source ../navstack_dependencies_ws/install/setup.sh
 colcon build --symlink-install
 ```
 
 In the case that the developer changes any dependencies, they can run
-`<workspace_dir>/navigation2/tools/build_all.sh` in a clean environment to get everything rebuilt easily
+`<directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh` in a clean environment to get everything rebuilt easily
 
 ### Build System
 
@@ -75,9 +75,9 @@ Instead, it would be better to do an initial download of all the source and depe
 ./initial_ros_setup.sh --no-ros1 --download-only
 ```
 
-Then the CI tool can monitor the `navigation2` repo, update it as necessary, and rebuild using either the `<workspace_dir>/navigation2/tools/build_all.sh` script or by running
+Then the CI tool can monitor the `navigation2` repo, update it as necessary, and rebuild using either the `<directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh` script or by running
 ```sh
-cd <workspace_dir>/navigation2
+cd <directory_for_workspaces>/navigation2_ws/src/navigation2
 source ../navstack_dependencies_ws/install/setup.sh
 colcon build --symlink-install
 ```
diff --git a/...ol/nav2_controller_example/doc/.gitignore → nav2_amcl/.gitignore b/...ol/nav2_controller_example/doc/.gitignore → nav2_amcl/.gitignore
diff --git a/...rol/nav2_controller_example/CHANGELOG.rst → nav2_amcl/CHANGELOG.rst b/...rol/nav2_controller_example/CHANGELOG.rst → nav2_amcl/CHANGELOG.rst
diff --git a/src/localization/nav2_amcl/CMakeLists.txt → nav2_amcl/CMakeLists.txt b/src/localization/nav2_amcl/CMakeLists.txt → nav2_amcl/CMakeLists.txt
diff --git a/...control/nav2_controller_example/README.md → nav2_amcl/README.md b/...control/nav2_controller_example/README.md → nav2_amcl/README.md
diff --git a/src/localization/nav2_amcl/package.xml → nav2_amcl/package.xml b/src/localization/nav2_amcl/package.xml → nav2_amcl/package.xml
diff --git a/src/localization/nav2_amcl/src/amcl_node.cpp → nav2_amcl/src/amcl_node.cpp b/src/localization/nav2_amcl/src/amcl_node.cpp → nav2_amcl/src/amcl_node.cpp
diff --git a/src/localization/nav2_amcl/src/amcl_node.hpp → nav2_amcl/src/amcl_node.hpp b/src/localization/nav2_amcl/src/amcl_node.hpp → nav2_amcl/src/amcl_node.hpp
diff --git a/src/localization/nav2_amcl/src/main.cpp → nav2_amcl/src/main.cpp b/src/localization/nav2_amcl/src/main.cpp → nav2_amcl/src/main.cpp
diff --git a/...ocalization/nav2_amcl/test/CMakeLists.txt → nav2_amcl/test/CMakeLists.txt b/...ocalization/nav2_amcl/test/CMakeLists.txt → nav2_amcl/test/CMakeLists.txt
diff --git a/...nav2_amcl/test/integration/CMakeLists.txt → nav2_amcl/test/integration/CMakeLists.txt b/...nav2_amcl/test/integration/CMakeLists.txt → nav2_amcl/test/integration/CMakeLists.txt
diff --git a/...tion/nav2_amcl/test/integration/README.md → nav2_amcl/test/integration/README.md b/...tion/nav2_amcl/test/integration/README.md → nav2_amcl/test/integration/README.md
diff --git a/...t/integration/test_localization_launch.py → ...t/integration/test_localization_launch.py b/...t/integration/test_localization_launch.py → ...t/integration/test_localization_launch.py
diff --git a/...st/integration/test_localization_node.cpp → ...st/integration/test_localization_node.cpp b/...st/integration/test_localization_node.cpp → ...st/integration/test_localization_node.cpp
diff --git a/launch/test_map.pgm → nav2_amcl/test/maps/test_map.pgm b/launch/test_map.pgm → nav2_amcl/test/maps/test_map.pgm
diff --git a/...ization/nav2_amcl/test/maps/test_map.yaml → nav2_amcl/test/maps/test_map.yaml b/...ization/nav2_amcl/test/maps/test_map.yaml → nav2_amcl/test/maps/test_map.yaml
diff --git a/..._launch_files/localization_node.launch.py → ..._launch_files/localization_node.launch.py b/..._launch_files/localization_node.launch.py → ..._launch_files/localization_node.launch.py
diff --git a/...zation/nav2_amcl/test/unit/CMakeLists.txt → nav2_amcl/test/unit/CMakeLists.txt b/...zation/nav2_amcl/test/unit/CMakeLists.txt → nav2_amcl/test/unit/CMakeLists.txt
diff --git a/...amcl/test/unit/test_localization_amcl.cpp → ...amcl/test/unit/test_localization_amcl.cpp b/...amcl/test/unit/test_localization_amcl.cpp → ...amcl/test/unit/test_localization_amcl.cpp
diff --git a/src/libs/nav2_libs_msgs/CHANGELOG.rst → nav2_astar_planner/CHANGELOG.rst b/src/libs/nav2_libs_msgs/CHANGELOG.rst → nav2_astar_planner/CHANGELOG.rst
diff --git a/...lanning/nav2_astar_planner/CMakeLists.txt → nav2_astar_planner/CMakeLists.txt b/...lanning/nav2_astar_planner/CMakeLists.txt → nav2_astar_planner/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(nav2_tasks REQUIRED)
 find_package(nav2_util REQUIRED)
-find_package(nav2_planning_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
 
 include_directories(
   include
@@ -39,7 +39,7 @@ set(dependencies
   nav2_tasks
   task
   nav2_util
-  nav2_planning_msgs
+  nav2_msgs
 )
 
 ament_target_dependencies(${executable_name}

diff --git a/src/libs/nav2_libs_msgs/README.md → nav2_astar_planner/README.md b/src/libs/nav2_libs_msgs/README.md → nav2_astar_planner/README.md
diff --git a/...anning/nav2_astar_planner/doc/..gitignore → nav2_astar_planner/doc/..gitignore b/...anning/nav2_astar_planner/doc/..gitignore → nav2_astar_planner/doc/..gitignore
diff --git a/...lude/nav2_astar_planner/astar_planner.hpp → ...lude/nav2_astar_planner/astar_planner.hpp b/...lude/nav2_astar_planner/astar_planner.hpp → ...lude/nav2_astar_planner/astar_planner.hpp
diff --git a/src/planning/nav2_astar_planner/package.xml → nav2_astar_planner/package.xml b/src/planning/nav2_astar_planner/package.xml → nav2_astar_planner/package.xml
@@ -12,11 +12,11 @@
   <build_depend>rclcpp</build_depend>
   <build_depend>nav2_tasks</build_depend>
   <build_depend>nav2_util</build_depend>
-  <build_depend>nav2_planning_msgs</build_depend>
+  <build_depend>nav2_msgs</build_depend>
 
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>nav2_tasks</exec_depend>
-  <exec_depend>nav2_planning_msgs</exec_depend>
+  <exec_depend>nav2_msgs</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/.../nav2_astar_planner/src/astar_planner.cpp → nav2_astar_planner/src/astar_planner.cpp b/.../nav2_astar_planner/src/astar_planner.cpp → nav2_astar_planner/src/astar_planner.cpp
diff --git a/src/planning/nav2_astar_planner/src/main.cpp → nav2_astar_planner/src/main.cpp b/src/planning/nav2_astar_planner/src/main.cpp → nav2_astar_planner/src/main.cpp
diff --git a/...l/nav2_controller_example/test/.gitignore → nav2_astar_planner/test/.gitignore b/...l/nav2_controller_example/test/.gitignore → nav2_astar_planner/test/.gitignore
diff --git a/src/libs/nav2_robot/CHANGELOG.rst → nav2_bringup/CHANGELOG.rst b/src/libs/nav2_robot/CHANGELOG.rst → nav2_bringup/CHANGELOG.rst
diff --git a/...av2_mission_execution_msgs/CMakeLists.txt → nav2_bringup/CMakeLists.txt b/...av2_mission_execution_msgs/CMakeLists.txt → nav2_bringup/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(nav2_mission_execution_msgs)
+project(nav2_bringup)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
@@ -12,15 +12,11 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-find_package(geometry_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
-find_package(std_msgs REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/MissionPlan.msg"
-  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
-)
+find_package(navigation2 REQUIRED)
 
 ament_export_dependencies(rosidl_default_runtime)
 
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
 ament_package()
diff --git a/src/libs/nav2_robot/README.md → nav2_bringup/README.md b/src/libs/nav2_robot/README.md → nav2_bringup/README.md
diff --git a/launch/core.launch.py → nav2_bringup/launch/core.launch.py b/launch/core.launch.py → nav2_bringup/launch/core.launch.py
diff --git a/launch/system_test.rviz → nav2_bringup/launch/system_test.rviz b/launch/system_test.rviz → nav2_bringup/launch/system_test.rviz
diff --git a/...lization/nav2_amcl/test/maps/test_map.pgm → nav2_bringup/launch/test_map.pgm b/...lization/nav2_amcl/test/maps/test_map.pgm → nav2_bringup/launch/test_map.pgm
diff --git a/launch/test_map.yaml → nav2_bringup/launch/test_map.yaml b/launch/test_map.yaml → nav2_bringup/launch/test_map.yaml
diff --git a/src/libs/nav2_libs_msgs/package.xml → nav2_bringup/package.xml b/src/libs/nav2_libs_msgs/package.xml → nav2_bringup/package.xml
@@ -1,25 +1,24 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>nav2_libs_msgs</name>
+  <name>nav2_bringup</name>
   <version>0.1.0</version>
-  <description>TODO</description>
+  <description>Bringup scripts and configurations for the navigation2 stack</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
+  <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>rclcpp</build_depend>
-  <build_depend>std_msgs</build_depend>
+  <build_depend>navigation2</build_depend>
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rosidl_default_generators</build_depend>
-  <build_depend>geometry_msgs</build_depend>
 
   <exec_depend>rclcpp</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>navigation2</exec_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
 

diff --git a/src/libs/nav2_tasks/CHANGELOG.rst → nav2_bt_navigator/CHANGELOG.rst b/src/libs/nav2_tasks/CHANGELOG.rst → nav2_bt_navigator/CHANGELOG.rst
diff --git a/...vigation/nav2_bt_navigator/CMakeLists.txt → nav2_bt_navigator/CMakeLists.txt b/...vigation/nav2_bt_navigator/CMakeLists.txt → nav2_bt_navigator/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(nav2_tasks REQUIRED)
-find_package(nav2_planning_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
 
 include_directories(
   include
@@ -36,8 +36,8 @@ set(dependencies
   rclcpp
   std_msgs
   nav2_tasks
-  nav2_planning_msgs
-)
+  nav2_msgs
+) 
 
 ament_target_dependencies(${executable_name}
   ${dependencies}

diff --git a/src/libs/nav2_tasks/README.md → nav2_bt_navigator/README.md b/src/libs/nav2_tasks/README.md → nav2_bt_navigator/README.md
diff --git a/src/libs/nav2_util/CHANGELOG.rst → nav2_bt_navigator/doc/.gitignore b/src/libs/nav2_util/CHANGELOG.rst → nav2_bt_navigator/doc/.gitignore
diff --git a/...nclude/nav2_bt_navigator/bt_navigator.hpp → ...nclude/nav2_bt_navigator/bt_navigator.hpp b/...nclude/nav2_bt_navigator/bt_navigator.hpp → ...nclude/nav2_bt_navigator/bt_navigator.hpp
@@ -17,6 +17,7 @@
 
 #include <string>
 #include <memory>
+#include "nav2_tasks/task_status.hpp"
 #include "nav2_tasks/navigate_to_pose_task.hpp"
 #include "nav2_tasks/compute_path_to_pose_task.hpp"
 #include "nav2_tasks/follow_path_task.hpp"

diff --git a/src/navigation/nav2_bt_navigator/package.xml → nav2_bt_navigator/package.xml b/src/navigation/nav2_bt_navigator/package.xml → nav2_bt_navigator/package.xml
@@ -11,11 +11,11 @@
 
   <build_depend>rclcpp</build_depend>
   <build_depend>nav2_tasks</build_depend>
-  <build_depend>nav2_planning_msgs</build_depend>
+  <build_depend>nav2_msgs</build_depend>
 
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>nav2_tasks</exec_depend>
-  <exec_depend>nav2_planning_msgs</exec_depend>
+  <exec_depend>nav2_msgs</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/...on/nav2_bt_navigator/src/bt_navigator.cpp → nav2_bt_navigator/src/bt_navigator.cpp b/...on/nav2_bt_navigator/src/bt_navigator.cpp → nav2_bt_navigator/src/bt_navigator.cpp
diff --git a/...navigation/nav2_bt_navigator/src/main.cpp → nav2_bt_navigator/src/main.cpp b/...navigation/nav2_bt_navigator/src/main.cpp → nav2_bt_navigator/src/main.cpp
diff --git a/src/libs/nav2_util/README.md → nav2_bt_navigator/test/.gitignore b/src/libs/nav2_util/README.md → nav2_bt_navigator/test/.gitignore
diff --git a/src/control/costmap_queue/CMakeLists.txt → nav2_controller/costmap_queue/CMakeLists.txt b/src/control/costmap_queue/CMakeLists.txt → nav2_controller/costmap_queue/CMakeLists.txt
@@ -11,7 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(costmap_2d REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
 
@@ -27,7 +27,7 @@ add_library(${PROJECT_NAME}
 
 set(dependencies
   rclcpp
-  costmap_2d
+  nav2_costmap_2d
 )
 
 ament_target_dependencies(${PROJECT_NAME}

diff --git a/...eue/include/costmap_queue/costmap_queue.h → ...eue/include/costmap_queue/costmap_queue.h b/...eue/include/costmap_queue/costmap_queue.h → ...eue/include/costmap_queue/costmap_queue.h
@@ -39,7 +39,7 @@
 #include <vector>
 #include <limits>
 #include <memory>
-#include "costmap_2d/costmap_2d.h"
+#include "nav2_costmap_2d/costmap_2d.h"
 #include "costmap_queue/map_based_queue.h"
 
 namespace costmap_queue
@@ -113,7 +113,7 @@ class CostmapQueue : public MapBasedQueue<CellData>
    * @param costmap Costmap which defines the size/number of cells
    * @param manhattan If true, sort cells by Manhattan distance, otherwise use Euclidean distance
    */
-  explicit CostmapQueue(costmap_2d::Costmap2D & costmap, bool manhattan = false);
+  explicit CostmapQueue(nav2_costmap_2d::Costmap2D & costmap, bool manhattan = false);
 
   /**
    * @brief Clear the queue
@@ -162,7 +162,7 @@ class CostmapQueue : public MapBasedQueue<CellData>
    */
   void computeCache();
 
-  costmap_2d::Costmap2D & costmap_;
+  nav2_costmap_2d::Costmap2D & costmap_;
   std::vector<bool> seen_;
   int max_distance_;
   bool manhattan_;

diff --git a/...ude/costmap_queue/limited_costmap_queue.h → ...ude/costmap_queue/limited_costmap_queue.h b/...ude/costmap_queue/limited_costmap_queue.h → ...ude/costmap_queue/limited_costmap_queue.h
@@ -50,7 +50,7 @@ class LimitedCostmapQueue : public CostmapQueue
   /**
    * @brief Constructor with limit as an integer number of cells.
    */
-  LimitedCostmapQueue(costmap_2d::Costmap2D & costmap, const int cell_distance_limit);
+  LimitedCostmapQueue(nav2_costmap_2d::Costmap2D & costmap, const int cell_distance_limit);
   bool validCellToQueue(const CellData & cell) override;
 };
 }  // namespace costmap_queue

diff --git a/...e/include/costmap_queue/map_based_queue.h → ...e/include/costmap_queue/map_based_queue.h b/...e/include/costmap_queue/map_based_queue.h → ...e/include/costmap_queue/map_based_queue.h
diff --git a/src/control/costmap_queue/package.xml → nav2_controller/costmap_queue/package.xml b/src/control/costmap_queue/package.xml → nav2_controller/costmap_queue/package.xml
@@ -9,7 +9,7 @@
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <depend>costmap_2d</depend>
+  <depend>nav2_costmap_2d</depend>
   <depend>rclcpp</depend>
 
   <test_depend>ament_cmake_cppcheck</test_depend>

diff --git a/...ntrol/costmap_queue/src/costmap_queue.cpp → ...oller/costmap_queue/src/costmap_queue.cpp b/...ntrol/costmap_queue/src/costmap_queue.cpp → ...oller/costmap_queue/src/costmap_queue.cpp
@@ -41,7 +41,7 @@ using std::hypot;
 namespace costmap_queue
 {
 
-CostmapQueue::CostmapQueue(costmap_2d::Costmap2D & costmap, bool manhattan)
+CostmapQueue::CostmapQueue(nav2_costmap_2d::Costmap2D & costmap, bool manhattan)
 : MapBasedQueue(), costmap_(costmap), max_distance_(-1), manhattan_(manhattan),
   cached_max_distance_(-1)
 {

diff --git a/...stmap_queue/src/limited_costmap_queue.cpp → ...stmap_queue/src/limited_costmap_queue.cpp b/...stmap_queue/src/limited_costmap_queue.cpp → ...stmap_queue/src/limited_costmap_queue.cpp
@@ -37,7 +37,7 @@
 namespace costmap_queue
 {
 
-LimitedCostmapQueue::LimitedCostmapQueue(costmap_2d::Costmap2D & costmap, const int distance_limit)
+LimitedCostmapQueue::LimitedCostmapQueue(nav2_costmap_2d::Costmap2D & costmap, const int distance_limit)
 : CostmapQueue(costmap)
 {
   max_distance_ = distance_limit;

diff --git a/src/control/costmap_queue/test/mbq_test.cpp → ...ontroller/costmap_queue/test/mbq_test.cpp b/src/control/costmap_queue/test/mbq_test.cpp → ...ontroller/costmap_queue/test/mbq_test.cpp
diff --git a/src/control/costmap_queue/test/utest.cpp → nav2_controller/costmap_queue/test/utest.cpp b/src/control/costmap_queue/test/utest.cpp → nav2_controller/costmap_queue/test/utest.cpp
@@ -42,7 +42,7 @@
 
 using std::hypot;
 
-costmap_2d::Costmap2D costmap(5, 5, 1.0, 0.0, 0.0);
+nav2_costmap_2d::Costmap2D costmap(5, 5, 1.0, 0.0, 0.0);
 
 TEST(CostmapQueue, basicQueue)
 {
@@ -59,7 +59,7 @@ TEST(CostmapQueue, basicQueue)
 
 TEST(CostmapQueue, bigTest)
 {
-  costmap_2d::Costmap2D big_map(500, 500, 1.0, 0.0, 0.0);
+  nav2_costmap_2d::Costmap2D big_map(500, 500, 1.0, 0.0, 0.0);
   costmap_queue::CostmapQueue q(big_map);
   int count = 0;
   q.enqueueCell(0, 0);

diff --git a/src/control/dwb_core/CMakeLists.txt → nav2_controller/dwb_core/CMakeLists.txt b/src/control/dwb_core/CMakeLists.txt → nav2_controller/dwb_core/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_2d_msgs REQUIRED)
 find_package(dwb_msgs REQUIRED)
-find_package(costmap_2d REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
@@ -32,7 +32,7 @@ set(dependencies
   geometry_msgs
   nav_2d_msgs
   dwb_msgs
-  costmap_2d
+  nav2_costmap_2d
   pluginlib
   sensor_msgs
   visualization_msgs

diff --git a/.../dwb_core/include/dwb_core/common_types.h → .../dwb_core/include/dwb_core/common_types.h b/.../dwb_core/include/dwb_core/common_types.h → .../dwb_core/include/dwb_core/common_types.h
@@ -16,15 +16,15 @@
 #define DWB_CORE__COMMON_TYPES_H_
 
 #include <memory>
-#include "costmap_2d/costmap_2d_ros.h"
+#include "nav2_costmap_2d/costmap_2d_ros.h"
 #include "tf2_ros/transform_listener.h"
 
 
 namespace dwb_core
 {
 
 typedef std::shared_ptr<tf2_ros::Buffer> TFBufferPtr;
-typedef std::shared_ptr<costmap_2d::Costmap2DROS> CostmapROSPtr;
+typedef std::shared_ptr<nav2_costmap_2d::Costmap2DROS> CostmapROSPtr;
 
 }
 

diff --git a/...trol/dwb_core/include/dwb_core/dwb_core.h → ...ller/dwb_core/include/dwb_core/dwb_core.h b/...trol/dwb_core/include/dwb_core/dwb_core.h → ...ller/dwb_core/include/dwb_core/dwb_core.h
diff --git a/...ol/dwb_core/include/dwb_core/exceptions.h → ...er/dwb_core/include/dwb_core/exceptions.h b/...ol/dwb_core/include/dwb_core/exceptions.h → ...er/dwb_core/include/dwb_core/exceptions.h
diff --git a/.../dwb_core/include/dwb_core/goal_checker.h → .../dwb_core/include/dwb_core/goal_checker.h b/.../dwb_core/include/dwb_core/goal_checker.h → .../dwb_core/include/dwb_core/goal_checker.h
diff --git a/...ude/dwb_core/illegal_trajectory_tracker.h → ...ude/dwb_core/illegal_trajectory_tracker.h b/...ude/dwb_core/illegal_trajectory_tracker.h → ...ude/dwb_core/illegal_trajectory_tracker.h
diff --git a/...rol/dwb_core/include/dwb_core/publisher.h → ...ler/dwb_core/include/dwb_core/publisher.h b/...rol/dwb_core/include/dwb_core/publisher.h → ...ler/dwb_core/include/dwb_core/publisher.h
diff --git a/...core/include/dwb_core/trajectory_critic.h → ...core/include/dwb_core/trajectory_critic.h b/...core/include/dwb_core/trajectory_critic.h → ...core/include/dwb_core/trajectory_critic.h
diff --git a/...e/include/dwb_core/trajectory_generator.h → ...e/include/dwb_core/trajectory_generator.h b/...e/include/dwb_core/trajectory_generator.h → ...e/include/dwb_core/trajectory_generator.h
diff --git a/src/control/dwb_core/package.xml → nav2_controller/dwb_core/package.xml b/src/control/dwb_core/package.xml → nav2_controller/dwb_core/package.xml
@@ -15,7 +15,7 @@
   <build_depend>geometry_msgs</build_depend>
   <build_depend>nav_2d_msgs</build_depend>
   <build_depend>dwb_msgs</build_depend>
-  <build_depend>costmap_2d</build_depend>
+  <build_depend>nav2_costmap_2d</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>visualization_msgs</build_depend>
@@ -27,7 +27,7 @@
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>dwb_msgs</exec_depend>
-  <exec_depend>costmap_2d</exec_depend>
+  <exec_depend>nav2_costmap_2d</exec_depend>
   <exec_depend>nav_2d_utils</exec_depend>
   <exec_depend>pluginlib</exec_depend>
 

diff --git a/src/control/dwb_core/src/dwb_core.cpp → nav2_controller/dwb_core/src/dwb_core.cpp b/src/control/dwb_core/src/dwb_core.cpp → nav2_controller/dwb_core/src/dwb_core.cpp
@@ -393,7 +393,7 @@ nav_2d_msgs::msg::Path2D DWBLocalPlanner::transformGlobalPlan(
   transformed_plan.header.stamp = pose.header.stamp;
 
   // we'll discard points on the plan that are outside the local costmap
-  costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
+  nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
   double dist_threshold = std::max(costmap->getSizeInCellsX(), costmap->getSizeInCellsY()) *
     costmap->getResolution() / 2.0;
   double sq_dist_threshold = dist_threshold * dist_threshold;

diff --git a/...b_core/src/illegal_trajectory_tracker.cpp → ...b_core/src/illegal_trajectory_tracker.cpp b/...b_core/src/illegal_trajectory_tracker.cpp → ...b_core/src/illegal_trajectory_tracker.cpp
diff --git a/src/control/dwb_core/src/publisher.cpp → nav2_controller/dwb_core/src/publisher.cpp b/src/control/dwb_core/src/publisher.cpp → nav2_controller/dwb_core/src/publisher.cpp
@@ -159,7 +159,7 @@ void DWBPublisher::publishCostGrid(
   cost_grid_pc.header.frame_id = costmap_ros->getGlobalFrameID();
   cost_grid_pc.header.stamp = rclcpp::Clock().now();
 
-  costmap_2d::Costmap2D * costmap = costmap_ros->getCostmap();
+  nav2_costmap_2d::Costmap2D * costmap = costmap_ros->getCostmap();
   double x_coord, y_coord;
   unsigned int size_x = costmap->getSizeInCellsX();
   unsigned int size_y = costmap->getSizeInCellsY();

diff --git a/src/control/dwb_critics/CMakeLists.txt → nav2_controller/dwb_critics/CMakeLists.txt b/src/control/dwb_critics/CMakeLists.txt → nav2_controller/dwb_critics/CMakeLists.txt
@@ -12,7 +12,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(angles REQUIRED)
-find_package(costmap_2d REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
 find_package(costmap_queue REQUIRED)
 find_package(dwb_core REQUIRED)
 find_package(geometry_msgs REQUIRED)
@@ -43,7 +43,7 @@ add_library(${PROJECT_NAME}
 
 set(dependencies
   angles
-  costmap_2d
+  nav2_costmap_2d
   costmap_queue
   dwb_core
   geometry_msgs

diff --git a/src/control/dwb_critics/default_critics.xml → ...ontroller/dwb_critics/default_critics.xml b/src/control/dwb_critics/default_critics.xml → ...ontroller/dwb_critics/default_critics.xml
diff --git a/...tics/include/dwb_critics/alignment_util.h → ...tics/include/dwb_critics/alignment_util.h b/...tics/include/dwb_critics/alignment_util.h → ...tics/include/dwb_critics/alignment_util.h
diff --git a/...itics/include/dwb_critics/base_obstacle.h → ...itics/include/dwb_critics/base_obstacle.h b/...itics/include/dwb_critics/base_obstacle.h → ...itics/include/dwb_critics/base_obstacle.h
@@ -71,7 +71,7 @@ class BaseObstacleCritic : public dwb_core::TrajectoryCritic
   virtual bool isValidCost(const unsigned char cost);
 
 protected:
-  costmap_2d::Costmap2D * costmap_;
+  nav2_costmap_2d::Costmap2D * costmap_;
   bool sum_scores_;
 };
 }  // namespace dwb_critics

diff --git a/..._critics/include/dwb_critics/goal_align.h → ..._critics/include/dwb_critics/goal_align.h b/..._critics/include/dwb_critics/goal_align.h → ..._critics/include/dwb_critics/goal_align.h
diff --git a/...b_critics/include/dwb_critics/goal_dist.h → ...b_critics/include/dwb_critics/goal_dist.h b/...b_critics/include/dwb_critics/goal_dist.h → ...b_critics/include/dwb_critics/goal_dist.h
diff --git a/...itics/include/dwb_critics/line_iterator.h → ...itics/include/dwb_critics/line_iterator.h b/...itics/include/dwb_critics/line_iterator.h → ...itics/include/dwb_critics/line_iterator.h
diff --git a/...wb_critics/include/dwb_critics/map_grid.h → ...wb_critics/include/dwb_critics/map_grid.h b/...wb_critics/include/dwb_critics/map_grid.h → ...wb_critics/include/dwb_critics/map_grid.h
@@ -107,7 +107,7 @@ class MapGridCritic : public dwb_core::TrajectoryCritic
   class MapGridQueue : public costmap_queue::CostmapQueue
   {
 public:
-    MapGridQueue(costmap_2d::Costmap2D & costmap, MapGridCritic & parent)
+    MapGridQueue(nav2_costmap_2d::Costmap2D & costmap, MapGridCritic & parent)
     : costmap_queue::CostmapQueue(costmap, true), parent_(parent) {}
     bool validCellToQueue(const costmap_queue::CellData & cell) override;
 
@@ -126,7 +126,7 @@ class MapGridCritic : public dwb_core::TrajectoryCritic
   void propogateManhattanDistances();
 
   std::shared_ptr<MapGridQueue> queue_;
-  costmap_2d::Costmap2D * costmap_;
+  nav2_costmap_2d::Costmap2D * costmap_;
   std::vector<double> cell_values_;
   double obstacle_score_, unreachable_score_;  ///< Special cell_values
   bool stop_on_failure_;

diff --git a/.../include/dwb_critics/obstacle_footprint.h → .../include/dwb_critics/obstacle_footprint.h b/.../include/dwb_critics/obstacle_footprint.h → .../include/dwb_critics/obstacle_footprint.h
diff --git a/...critics/include/dwb_critics/oscillation.h → ...critics/include/dwb_critics/oscillation.h b/...critics/include/dwb_critics/oscillation.h → ...critics/include/dwb_critics/oscillation.h
diff --git a/..._critics/include/dwb_critics/path_align.h → ..._critics/include/dwb_critics/path_align.h b/..._critics/include/dwb_critics/path_align.h → ..._critics/include/dwb_critics/path_align.h
diff --git a/...b_critics/include/dwb_critics/path_dist.h → ...b_critics/include/dwb_critics/path_dist.h b/...b_critics/include/dwb_critics/path_dist.h → ...b_critics/include/dwb_critics/path_dist.h
diff --git a/...tics/include/dwb_critics/prefer_forward.h → ...tics/include/dwb_critics/prefer_forward.h b/...tics/include/dwb_critics/prefer_forward.h → ...tics/include/dwb_critics/prefer_forward.h
diff --git a/...tics/include/dwb_critics/rotate_to_goal.h → ...tics/include/dwb_critics/rotate_to_goal.h b/...tics/include/dwb_critics/rotate_to_goal.h → ...tics/include/dwb_critics/rotate_to_goal.h
diff --git a/...wb_critics/include/dwb_critics/twirling.h → ...wb_critics/include/dwb_critics/twirling.h b/...wb_critics/include/dwb_critics/twirling.h → ...wb_critics/include/dwb_critics/twirling.h