Change deprecated ceres function

[Tobias-Fischer]

error: 'bool ceres::IsInfinite(double)' is deprecated: ceres::IsInfinite will be removed in a future Ceres Solver release. Please use ceres::isinf.

[mergify]

@Tobias-Fischer, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[codecov]

Codecov Report

Merging #3158 (6924a5f) into main (1d9d3c6) will decrease coverage by 0.17%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main    #3158      +/-   ##
==========================================
- Coverage   83.10%   82.93%   -0.18%     
==========================================
  Files         339      339              
  Lines       15233    15233              
==========================================
- Hits        12660    12634      -26     
- Misses       2573     2599      +26     

Impacted Files	Coverage Δ
...v2_constrained_smoother/smoother_cost_function.hpp	100.00% <100.00%> (ø)
...oother/include/nav2_constrained_smoother/utils.hpp	100.00% <100.00%> (ø)
...av2_dwb_controller/dwb_critics/src/oscillation.cpp	72.00% <0.00%> (-22.67%)	⬇️
nav2_navfn_planner/src/navfn_planner.cpp	90.57% <0.00%> (-4.72%)	⬇️
...ostmap_2d/plugins/costmap_filters/speed_filter.cpp	94.49% <0.00%> (-1.84%)	⬇️
nav2_navfn_planner/src/navfn.cpp	93.03% <0.00%> (-0.28%)	⬇️
nav2_amcl/src/amcl_node.cpp	71.65% <0.00%> (-0.15%)	⬇️
..._dwb_controller/dwb_critics/src/rotate_to_goal.cpp	91.11% <0.00%> (+8.88%)	⬆️

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[AlexeyMerzlyakov]

LGTM: This API is being updated in ceres. In Nav2, there are no other functions from the deprecated ceres API anymore.

[ozzdemir]

While building nav2_constrained_smoother (1.1.6-1) from source on a ubuntu 20.04 docker (which comes with libceres-dev 1.14.0), had the same error mentioned on the ros/rosdistro#35270 (comment) and to fix it, reverted the changes mentioned here (i.e. ceres::isinf -> ceres::IsInfinite).

While checking the backward incompatible API change for the root cause, I observed that it proposes use of std counterparts.

Classification functions like IsFinite are deprecated. Use the C++11 functions (isfinite, isnan etc) going forward. However to maintain consistent behaviour with comparison operators, these functions only inspect the scalar part of the Jet.

I think ceres::isnan introduced with ceres 2.0 or later, which is only for internal uses. Wouldn't it be better to use the std counterparts in order to remain compatible with the both versions? What do you think @Tobias-Fischer @AlexeyMerzlyakov ?

[AlexeyMerzlyakov]

@ozzdemir, I am not sure about whether the ceres::isinf() is an internal Ceres function, because for this Ceres has internal includes not intended to be used in public: ceres::isinf() is not there. However, since Ubuntu 20.04 (where we have old Ceres API) is in officially supported platforms list for ROS2, the fix for it is wanted.

Please note, that nav2_constrained_smoother is using generic indefinite templates methods, so we to define both instantiations of std::isinf(x): for T = Scalar (a.k.a. double) and for T = ceres::Jet(D, N) types. Something like simply:

template<typename D, int N> 
bool MyIsInfinite(const ceres::Jet<D, N>& j) {
  return std::isinf(j.a);
}

bool MyIsInfinite(const double x) {
  return std::isinf(x);
}

So, you are welcoming to open a new PR for this. Maybe, there is more elegant solution, I've lost sight of, pls let us know there.