Move Nav2 CI to 24.04 / Rolling

[tonynajjar]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

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Description of contribution in a few bullet points

Various fixes for Nav2 Rolling on Noble

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• 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

[ruffsl]

I'll let @SteveMacenski comment on the CMake diffs, but only a few comments on the Docker/CI bits.

[mergify]

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

@tonynajjar my only beef left here is the cmake changes - I don't want to remove flags for our project due to dependency issues. Do you know how many files-ish (not exact; is it a lot or a little) have a problem due to this? If small, we can do what we did with other dependencies (example):

// turn off the specific warning. Can also use "-Wall"
#pragma GCC diagnostic ignored "-Wunused-but-set-variable"

#include <boost/uuid/uuid.hpp>
#include <boost/uuid/uuid_generators.hpp>
#include <boost/uuid/uuid_io.hpp>
#include <boost/lexical_cast.hpp>

// turn the warnings back on
#pragma GCC diagnostic pop

Though, I'm not sure why -finline-limit=10000000 was removed from MPPI?

[mergify]

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[tonynajjar]

Okay, I restored the global compile flags and disabled them only where necessary. Currently we only know that the nav2_behavior_tree error will be resolved at the next sync. I'm not sure how to resolve the ones from nav2_system_tests and nav2_mppi_controller since the error originate from third-party code.

[mergify]

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

At last review, this looks good to me. @ruffsl any thoughts?

Otherwise, CI is failing to build (still looks to be on Jammy?) but no more code-related concerns. I'll probably file a few tickets when we merge as reminders but nothing that I'm going to concern you with

[facontidavide]

Behavior tree node failures RESOLVED - BT.CPP bug/regression causing crash if input configs don't contain all possible ports for the tests (CC @facontidavide: even if that was an intentional change, I expect that a crash isn't the expected behavior rather an exception or log. Though seems like maybe its a regression?)

Yes, I should fix it and have am exception instead.

[SteveMacenski]

With the recent pushes, the remaining are the test bringdown failures which are just N instances of presumably the same problem. All the tests exhibit the Fsat-DDS shared memory log errors, but not blocking our CI motion to 24.04. Nor is the fact that there may be some issues (?) on bring down upstream once we find a workaround that gets us moving. But these probably should be followed up upon to those appropriate project leads for their awareness (which I've started).

Will be looking into the last thing this afternoon.

[SteveMacenski]

OK, fixed. It looks like another instance of the destruction not working like described in the WPF comment above. To my unsophisticated eye, it looks like some of the context / RMW items aren't still active during the pre-shutdown callbacks, causing exceptions / internal ROS 2 things to crash / deadlock. When we fully set things down so that our pre-shutdown callback doesn't have to do any work or is avoided altogether by destroying the object before the rclcpp shutdown, then we avoid the problem. I think this last, short one does a good job at highlighting this:

    [INFO] [1716413808.442739807] [costmap]: Running Nav2 LifecycleNode rcl preshutdown (costmap)
    [INFO] [1716413808.442783529] [costmap]: Destroying bond (costmap) to lifecycle manager.
    Failed to delete datawriter, at ./src/publisher.cpp:45 during '__function__'
    cannot publish data, at ./src/rmw_publish.cpp:66 during '__function__'
    Fail in delete datareader, at ./src/rmw_service.cpp:89 during '__function__'
    -- run_test.py: return code -11

@tonynajjar pull in my BR2 branch and this should be good to go pending any other issues that comes up from the CircleCI job versions of this

[SteveMacenski]

@tonynajjar do you see the nav2_costmap_2d.DynParamTestNode test failure locally? I do not but CI is reporting it :(

[tonynajjar]

@tonynajjar do you see the nav2_costmap_2d.DynParamTestNode test failure locally? I do not but CI is reporting it :(

Just tried on rolling locally 10 times and I didn't get it

[SteveMacenski]

Maybe break the cache with v23? Or the docker image

navigation2/.circleci/config.yml

Line 488 in f671d38

- image: ghcr.io/ros-navigation/navigation2:main

?