Opennav coverage

distros/humble/patch/dependencies.yaml

@@ -71,6 +71,10 @@ nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}"]
 nav2_util:
   add_host: ["libboost-devel"]
+opennav_coverage:
+  # package.xml misses deps that CMakeLists.txt finds
+  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
 openvdb_vendor:
   add_host: ["openvdb"]
 parameter_traits:

distros/humble/patch/ros2-opennav-coverage.patch

@@ -0,0 +1,13 @@
+diff --git a/opennav_coverage/src/coverage_server.cpp b/opennav_coverage/src/coverage_server.cpp
+index 6a7a67c..b5bee23 100644
+--- a/opennav_coverage/src/coverage_server.cpp
++++ b/opennav_coverage/src/coverage_server.cpp
+@@ -54,7 +54,7 @@ CoverageServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
+     node, "coordinates_in_cartesian_frame", rclcpp::ParameterValue(true));
+   get_parameter("coordinates_in_cartesian_frame", cartesian_frame_);
+
+-  double action_server_result_timeout;
++  double action_server_result_timeout = 10.0;
+   nav2_util::declare_parameter_if_not_declared(
+     node, "action_server_result_timeout", rclcpp::ParameterValue(10.0));
+   get_parameter("action_server_result_timeout", action_server_result_timeout);

distros/humble/rosdistro_additional_recipes.yaml

@@ -89,3 +89,15 @@ mujoco_vendor:
   tag: release/jazzy/mujoco_vendor/0.1.0-1
   url: https://github.com/ros2-gbp/mujoco_vendor-release.git
   version: 0.1.0
+opennav_coverage:
+  # Not released in rosdistro; humble-v2 branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 81b63a720d97e0966548d9f062fc6a723f329022
+  version: 0.0.1
+  additional_folder: opennav_coverage
+opennav_coverage_msgs:
+  # Not released in rosdistro; humble-v2 branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 81b63a720d97e0966548d9f062fc6a723f329022
+  version: 0.0.1
+  additional_folder: opennav_coverage_msgs

distros/jazzy/patch/dependencies.yaml

@@ -112,6 +112,10 @@ nav2_mppi_controller:
   add_run: ["xtensor==0.25.0"]
 nav2_util:
   add_host: ["libboost-devel"]
+opennav_coverage:
+  # package.xml misses deps that CMakeLists.txt finds
+  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
 openvdb_vendor:
   add_host: ["openvdb"]
 pcl_conversions:

distros/jazzy/rosdistro_additional_recipes.yaml

@@ -115,6 +115,18 @@ negotiated_interfaces:
   version: 0.1.0
   additional_folder: negotiated_interfaces
 
+opennav_coverage:
+  # Not released in rosdistro; jazzy-v2 branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: c02a41e739ab51c558d1c4c81d6c9ff154ee80f3
+  version: 0.0.1
+  additional_folder: opennav_coverage
+opennav_coverage_msgs:
+  # Not released in rosdistro; jazzy-v2 branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: c02a41e739ab51c558d1c4c81d6c9ff154ee80f3
+  version: 0.0.1
+  additional_folder: opennav_coverage_msgs
 rclcpp_async:
   rev: 7a54000737ef97e833589f4fe37a5784691ce9ca
   url: https://github.com/otamachan/rclcpp_async.git

distros/lyrical/patch/dependencies.yaml

@@ -106,6 +106,10 @@ moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}", "ceres-solver"]
+opennav_coverage:
+  # package.xml misses deps that CMakeLists.txt finds
+  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
 openvdb_vendor:
   add_host: ["openvdb"]
 pcl_conversions:

distros/lyrical/patch/ros2-opennav-coverage.patch

@@ -0,0 +1,11 @@
+diff --git a/opennav_coverage/src/coverage_server.cpp b/opennav_coverage/src/coverage_server.cpp
+index ae05766..11a3743 100644
+--- a/opennav_coverage/src/coverage_server.cpp
++++ b/opennav_coverage/src/coverage_server.cpp
+@@ -59,6 +59,7 @@ CoverageServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
+     "compute_coverage_path",
+     std::bind(&CoverageServer::computeCoveragePath, this),
+     nullptr,
++    nullptr,
+     std::chrono::milliseconds(500),
+     true);

distros/lyrical/rosdistro_additional_recipes.yaml

@@ -460,6 +460,18 @@ mocap4r2_robot_gt_msgs:
   url: https://github.com/MOCAP4ROS2-Project/mocap4r2.git
   version: 0.0.7
   additional_folder: mocap4r2_robot_gt/mocap4r2_robot_gt_msgs
+opennav_coverage:
+  # Not released in rosdistro; lyrical branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 9f0cca9414cfcf4feb616fee3c35ac199b788ff3
+  version: 0.0.1
+  additional_folder: opennav_coverage
+opennav_coverage_msgs:
+  # Not released in rosdistro; lyrical branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 9f0cca9414cfcf4feb616fee3c35ac199b788ff3
+  version: 0.0.1
+  additional_folder: opennav_coverage_msgs
 rclcpp_async:
   rev: 7a54000737ef97e833589f4fe37a5784691ce9ca
   url: https://github.com/otamachan/rclcpp_async.git

distros/rolling/patch/dependencies.yaml

@@ -104,6 +104,10 @@ moveit_core:
   add_host: ["eigen-abi-devel"]
 moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
+opennav_coverage:
+  # package.xml misses deps that CMakeLists.txt finds
+  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
 pcl_conversions:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel", "eigen-abi-devel"]
 pinocchio:

distros/rolling/patch/ros2-nav2-ros-common.patch

@@ -0,0 +1,36 @@
+diff --git a/include/nav2_ros_common/node_utils.hpp b/include/nav2_ros_common/node_utils.hpp
+index 333c598..b029d52 100644
+--- a/include/nav2_ros_common/node_utils.hpp
++++ b/include/nav2_ros_common/node_utils.hpp
+@@ -38 +38 @@
+-#else
++#elif !defined(_WIN32)
+@@ -379,0 +380,2 @@ inline void setSoftRealTimePriority()
++#elif defined(_WIN32)
++  throw std::runtime_error("Soft real-time prioritization is not supported on Windows");
+diff --git a/include/nav2_ros_common/validate_messages.hpp b/include/nav2_ros_common/validate_messages.hpp
+index 7fd21e3..8fb8b66 100644
+--- a/include/nav2_ros_common/validate_messages.hpp
++++ b/include/nav2_ros_common/validate_messages.hpp
+@@ -21,0 +22 @@
++#include <limits>
+@@ -85 +86 @@ bool validateMsg(const std::array<double, N> & msg)
+-const int NSEC_PER_SEC = 1e9;  // 1 second = 1e9 nanosecond
++constexpr int NANOSECONDS_PER_SECOND = 1e9;
+@@ -88 +89 @@ bool validateMsg(const builtin_interfaces::msg::Time & msg)
+-  if (msg.nanosec >= NSEC_PER_SEC) {
++  if (msg.nanosec >= NANOSECONDS_PER_SECOND) {
+@@ -189,2 +190,3 @@ bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg)
+-  uint32_t num_cells;
+-  if (__builtin_mul_overflow(msg.info.width, msg.info.height, &num_cells)) {
++  if (msg.info.width != 0 &&
++    msg.info.height > std::numeric_limits<uint32_t>::max() / msg.info.width)
++  {
+@@ -193,0 +196 @@ bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg)
++  const uint32_t num_cells = msg.info.width * msg.info.height;
+@@ -224,2 +227,3 @@ bool validateMsg(const map_msgs::msg::OccupancyGridUpdate & msg)
+-  uint32_t num_cells;
+-  if (__builtin_mul_overflow(msg.width, msg.height, &num_cells)) {
++  if (msg.width != 0 &&
++    msg.height > std::numeric_limits<uint32_t>::max() / msg.width)
++  {

distros/rolling/patch/ros2-opennav-coverage.patch

@@ -0,0 +1,11 @@
+diff --git a/opennav_coverage/src/coverage_server.cpp b/opennav_coverage/src/coverage_server.cpp
+index ae05766..11a3743 100644
+--- a/opennav_coverage/src/coverage_server.cpp
++++ b/opennav_coverage/src/coverage_server.cpp
+@@ -59,6 +59,7 @@ CoverageServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
+     "compute_coverage_path",
+     std::bind(&CoverageServer::computeCoveragePath, this),
+     nullptr,
++    nullptr,
+     std::chrono::milliseconds(500),
+     true);

distros/rolling/rosdistro_additional_recipes.yaml

@@ -622,6 +622,14 @@ nav2_msgs:
   tag: release/lyrical/nav2_msgs/1.5.2-2
   url: https://github.com/ros2-gbp/navigation2-release.git
   version: 1.5.2
+nav2_ros_common:  # lyrical's release, needed by opennav_coverage
+  tag: release/lyrical/nav2_ros_common/1.5.2-2
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.2
+nav2_util:  # lyrical's release, needed by opennav_coverage
+  tag: release/lyrical/nav2_util/1.5.2-2
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.2
 navmap_core:
   tag: release/lyrical/navmap_core/0.6.0-1
   url: https://github.com/EasyNavigation/NavMap-release.git
@@ -650,6 +658,18 @@ netft_driver:  # not in rosdistro yet (ros/rosdistro#52786); requested in https:
   tag: 0.4.0
   url: https://github.com/netft/ros-netft.git
   version: 0.4.0
+opennav_coverage:
+  # Not released in rosdistro; main branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 04858cf8e3512f59d1ecc7dde5483ee5a6a0f201
+  version: 0.0.1
+  additional_folder: opennav_coverage
+opennav_coverage_msgs:
+  # Not released in rosdistro; main branch (Fields2Cover v2)
+  url: https://github.com/open-navigation/opennav_coverage.git
+  rev: 04858cf8e3512f59d1ecc7dde5483ee5a6a0f201
+  version: 0.0.1
+  additional_folder: opennav_coverage_msgs
 rclcpp_async:
   rev: 7a54000737ef97e833589f4fe37a5784691ce9ca
   url: https://github.com/otamachan/rclcpp_async.git

shared/vinca.yaml

@@ -225,6 +225,7 @@ packages_select_by_deps:
   - odom_to_tf_ros2
   - onnxruntime_vendor
   - open3d_conversions
+  - opennav_coverage_msgs
   - osrf_testing_tools_cpp
   - pal_statistics
   - perception
@@ -461,6 +462,7 @@ packages_select_by_deps:
       - navmap_tools
       - netft_driver  # ATI Net F/T driver: POSIX networking, Linux only; requested in https://github.com/RoboStack/robostack/issues/103
       - nobleo_socketcan_bridge # Depends on socketcan
+      - opennav_coverage
       - orbbec_camera
       - plansys2_core
       - plansys2_domain_expert