Merge pull request #8 from estherag/jazzy

Update targets for grid_map_ros

Author: estherag

.github/workflows/jazzy.yaml

@@ -0,0 +1,49 @@
+
+name: jazzy
+
+on:
+  pull_request:
+    branches:
+      - jazzy
+  push:
+    branches:
+      - jazzy
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-24.04]
+      fail-fast: false
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: jazzy
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+        with:
+          required-ros-distributions: jazzy
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: easynav_gridmap_maps_manager easynav_gridmap_astar_planner easynav_gridmap_rrtstar_planner
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

easynav_gridmap_astar_planner/CMakeLists.txt

@@ -20,15 +20,18 @@ find_package(grid_map_msgs REQUIRED)
 add_library(${PROJECT_NAME} SHARED
   src/easynav_gridmap_astar_planner/GridMapAStarPlanner.cpp
 )
+
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+  ${grid_map_ros_INCLUDE_DIRS}
 )
+
 target_link_libraries(${PROJECT_NAME} PUBLIC
   easynav_common::easynav_common
   easynav_core::easynav_core
   pluginlib::pluginlib
-  grid_map_ros::grid_map_ros
+  ${grid_map_ros_LIBRARIES}
   ${nav_msgs_TARGETS}
   ${grid_map_msgs_TARGETS}
 )

easynav_gridmap_maps_manager/CMakeLists.txt

@@ -30,7 +30,7 @@ set(dependencies
   rclcpp_lifecycle::rclcpp_lifecycle
   easynav_common::easynav_common
   easynav_core::easynav_core
-  grid_map_ros::grid_map_ros
+  ${grid_map_ros_LIBRARIES}
   ament_index_cpp::ament_index_cpp
   cv_bridge::cv_bridge
   ${sensor_msgs_TARGETS}
@@ -46,11 +46,14 @@ add_library(${PROJECT_NAME} SHARED
   src/easynav_gridmap_maps_manager/GridmapMapsBuilderNode.cpp
   src/easynav_gridmap_maps_manager/utils.cpp
 )
+
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<BUILD_INTERFACE:${yaml-cpp_INCLUDE_DIRS}>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+  ${grid_map_ros_INCLUDE_DIRS}
 )
+
 target_link_libraries(${PROJECT_NAME} PUBLIC ${dependencies})
 
 # Executable
@@ -59,7 +62,8 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
-target_link_libraries(gridmap_maps_builder_main ${PROJECT_NAME} ${dependencies})
+
+target_link_libraries(gridmap_maps_builder_main ${PROJECT_NAME} ${dependencies} ${grid_map_ros_LIBRARIES})
 
 install(
   DIRECTORY include/

easynav_gridmap_maps_manager/src/easynav_gridmap_maps_manager/utils.cpp

@@ -22,6 +22,7 @@
 
 
 #include <fstream>
+#include <filesystem>
 
 #include "grid_map_msgs/msg/grid_map.hpp"
 #include "grid_map_ros/grid_map_ros.hpp"

easynav_gridmap_rrtstar_planner/CMakeLists.txt

@@ -21,17 +21,20 @@ add_library(${PROJECT_NAME} SHARED
   src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp
   src/easynav_gridmap_rrtstar_planner/KDTree.cpp
 )
+
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+  ${grid_map_ros_INCLUDE_DIRS}  
 )
+
 target_link_libraries(${PROJECT_NAME} PUBLIC
   easynav_common::easynav_common
   easynav_core::easynav_core
   pluginlib::pluginlib
-  grid_map_ros::grid_map_ros
   ${nav_msgs_TARGETS}
   ${grid_map_msgs_TARGETS}
+  ${grid_map_ros_LIBRARIES}
 )
 
 install(

easynav_gridmap_rrtstar_planner/src/easynav_gridmap_rrtstar_planner/GridMapRRTStarPlanner.cpp

@@ -91,7 +91,6 @@ std::expected<void, std::string> GridMapRRTStarPlanner::on_initialize()
   node->declare_parameter<double>(plugin_name + ".spacing", 0.2);
   node->declare_parameter<double>(plugin_name + ".max_lateral_deviation", 0.5);
   node->declare_parameter<int>(plugin_name + ".final_poses_with_goal_orientation", 2);
-
   node->get_parameter(plugin_name + ".max_allowed_slope_deg", max_allowed_slope_deg_);
   node->get_parameter(plugin_name + ".max_iters", max_iters_);
   node->get_parameter(plugin_name + ".step_size", step_size_);
@@ -109,7 +108,7 @@ std::expected<void, std::string> GridMapRRTStarPlanner::on_initialize()
   path_pub_ = node->create_publisher<nav_msgs::msg::Path>("planner/path", 10);
   marker_pub_ = node->create_publisher<visualization_msgs::msg::MarkerArray>("planner/marker", 10);
 
-  node->get_logger().set_level(rclcpp::Logger::Level::Debug);
+  node->get_logger().set_level(rclcpp::Logger::Level::Warn);
 
   last_goal_pose_.position.x = 0.0;
   last_goal_pose_.position.y = 0.0;
@@ -692,7 +691,6 @@ bool GridMapRRTStarPlanner::check_goal_changed(const geometry_msgs::msg::Pose &
   return goal_changed;
 }
 
-// Replace entire update() function:
 void GridMapRRTStarPlanner::update(NavState & nav_state)
 {
   // initial validations