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Rewrite nav2_map_server #989

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rotu commented Jul 30, 2019

Basic Info

Info Please fill out this column
Ticket(s) this addresses #466
Primary OS tested on Ubuntu
Robotic platform tested on hardware OpenRover

Description of contribution in a few bullet points

  • I added parameters to map_saver which can be used instead of or in addition to arguments.
  • I added the following argument to map_saver: --fmt <image_format> = image format (png/jpeg/pgm/etc.)
  • I added the following argument to map_saver: --mode trinary/scale/raw = how to save images. Primarily of use is scale, which prevents data loss when converting images from grayscale to trinary (previously the only option).
  • I switched the image processing backend (for saving and loading) from SDL to GraphicsMagick, which supports writing several graphics formats and is in general nicer to use.
  • I rewrote YAML writing to use the same library as YAML reading.
  • I renamed map_generator to map_saver, which more accurately describes what it does
  • The MapSaver node now exposes when the map is ready with a promise instead of a polling a public boolean field.

Future work that may be required in bullet points

  • There is another implementation of map loader in nav2_util. These two implementations should be unified.
  • Add a convenient wrapper to map_loader run without separately invoking the nav2 lifecycle manager.
  • Implement multi-layer maps (#547). This should be a lot more straightforward now, since the new graphics library supports several multi-layer formats
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SteveMacenski left a comment

I'll look at this more tomorrow, but what's the reason to support multiple file types from pgm? I would think that may start making more headaches than benefit, but maybe I'm not thinking in the same light

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rotu commented Jul 30, 2019

The reason to add supports for other formats is so we can have an alpha channel which is needed for map_mode=scale. I would be happy to restrict it to some/all of the following:

  • pgm (legacy support)
  • png (small files, allows multiple images per file, which could be useful for replaying or debugging SLAM)
  • bmp (easily debuggable)
  • SVG (awesome for editing)
@rotu rotu force-pushed the RoverRobotics-forks:map_saver_graphicsmagick branch 2 times, most recently from 36c872a to f7c4713 Jul 31, 2019
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@rotu rotu force-pushed the RoverRobotics-forks:map_saver_graphicsmagick branch 2 times, most recently from b0de225 to b0de70e Aug 8, 2019
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mkhansen-intel commented Aug 13, 2019

@rotu - is this WIP or ready for review? If it's ready for review, can you rebase it first so we can make sure it's passing CI now that our CI is working again?

Thanks!

@rotu rotu force-pushed the RoverRobotics-forks:map_saver_graphicsmagick branch from b0de70e to 29f5f01 Aug 14, 2019
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rotu commented Aug 14, 2019

@mkhansen-intel very ready for review.

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@rotu rotu force-pushed the RoverRobotics-forks:map_saver_graphicsmagick branch from 3070b6b to 249d701 Aug 14, 2019
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codecov bot commented Aug 14, 2019

Codecov Report

Merging #989 into master will decrease coverage by 0.32%.
The diff coverage is 11.8%.

Impacted file tree graph

@@            Coverage Diff             @@
##           master     #989      +/-   ##
==========================================
- Coverage   33.61%   33.29%   -0.33%     
==========================================
  Files         197      233      +36     
  Lines       10241    10784     +543     
  Branches     3821     3988     +167     
==========================================
+ Hits         3443     3590     +147     
- Misses       4485     4820     +335     
- Partials     2313     2374      +61
Impacted Files Coverage Δ
...server/include/nav2_map_server/occ_grid_loader.hpp 0% <ø> (ø) ⬆️
nav2_map_server/src/map_saver.cpp 0% <0%> (ø) ⬆️
nav2_map_server/src/map_mode.cpp 0% <0%> (ø)
nav2_map_server/src/map_saver_cli.cpp 0% <0%> (ø)
...2_map_server/test/component/test_occ_grid_node.cpp 0% <0%> (ø) ⬆️
...2_map_server/include/nav2_map_server/map_saver.hpp 0% <0%> (ø)
nav2_map_server/src/occ_grid_loader.cpp 27.39% <31.25%> (-5.27%) ⬇️
nav2_map_server/test/unit/test_occ_grid.cpp 47.05% <33.33%> (-1.14%) ⬇️
nav2_dwb_controller/dwb_critics/src/path_align.cpp 60% <0%> (-25%) ⬇️
..._voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp 52.75% <0%> (-12.94%) ⬇️
... and 50 more

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SteveMacenski commented Aug 15, 2019

I'm not looking to block this over small stuff, but there's enough small stuff that I think we should figure out before merging, whether its filing tickets to resolve later or fixing here (or ignoring me because I'm wrong).

  • What filetypes would we like to support? What filetypes do we not want to support? If we don't want to support pgms anymore, should we provide a script to take pgms -> pngs?
  • Architecturally having a library which takes in a filename and a occupancy grid and writes to file that can be used to make map saving services, executables, or integrated into other code.
  • There are copy right headers that have been truncated when the header specifically says they cannot be changed. Adding an additional // (c) Rover Robotics is fine in my book, but deleting text is not
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rotu commented Aug 15, 2019

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rotu commented Aug 15, 2019

@SteveMacenski Please tell me if you have any extant concerns or things I need to address

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SteveMacenski commented Aug 15, 2019

Can you explain why you would like to support all 3 filetypes? What are the benefits and drawbacks of each? It might be clear to you, but its not clear to me. There's not really much explanation why them all. We've talked about the issues with pgm, then why support them at all? What does bmp provide that png doesn't? If there's not a clear use-case for all of them, we should pare the list down to the minimum viable set we would like to use. If that minimum viable set doesn't include PGM, that's a-okay by me. Why use any of them over than png?

On the Map API, that works. Sorry I also forgot that I filed #1010 on it. We're square there.

License - OK.

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rotu commented Aug 15, 2019

We already explicitly support those three for reading, with tests. That's why I chose them.

PRs welcome if you'd like to repaint this bikeshed.

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SteveMacenski commented Aug 15, 2019

The dialog I'm trying to start is the higher level "why those 3 formats". If you just picked 3 random image formats out of a hat, then we should take a moment and think about which ones make the most sense for what we're trying to do. If there's redundancy that multiple image formats produce the same information in a way that is meaningless to distinguish between them, why support them at all? I might understand the map server being able to support multiple filetypes, but if we have the map saver as the primary method to save and cache maps, we should limit them to useful and unique options that provide a clear benefit as opposed to each other. If not, why stop at 3? Lets expose all image formats the library allows.

Or else we're going to be fielding questions from the community like "when should I use this format over that format" until the end of time. And if we later decide to remove some types, there will be people using them and mad that they're no longer able to use the latest code.

I would like just a short, 10 word blurb on each of the file types of what are the benefits and drawbacks compared to the others listed. If there are 2 that meet the same spec, maybe we cut one of them out. If pgm is objectively worse but we want backwards compatibility, that's also fine, just some design rationale.

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rotu commented Aug 15, 2019

Here's my design rationale:

  • pgm: legacy support, uncompressed so useful for binary diff or hexdump if you need to troubleshoot over ssh.
  • bmp: alpha channel, uncompressed
  • png: small files, alpha channel, great support in browsers

I think the answer is "in general, use png and don't worry about the rest unless you know why you want to".

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crdelsey commented Aug 20, 2019

@rotu This is ready to go in if I'm not mistaken. Can you rebase so I can merge it?

Add GraphicsMagick API and use it to implement map_saver, map_loader
Removes dependency on SDL, creates installation dependency on libgraphicsmagick++; apt package libgraphicsmagick++1-dev
Allows saving in trinary, raw, or scale mode.
Added configurable image format pgm, png, etc.
Add warning when using scale mode with opaque format.
Remove SDL from map server
Extract repeated MapMode to shared enum class
Switch writing YAML to same library that reads it (yaml-cpp)
Add --help alias to map saver -h
Extract map yaml loading to its own function, with better error messages. Also fixed crash due to misuse of std::string constructor.
@rotu rotu force-pushed the RoverRobotics-forks:map_saver_graphicsmagick branch from 999bdf6 to 3fde33b Aug 20, 2019
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rotu commented Aug 20, 2019

@crdelsey Squashed and rebased on latest master

@crdelsey crdelsey merged commit 8b239fb into ros-planning:master Aug 20, 2019
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crdelsey added a commit that referenced this pull request Sep 9, 2019
* remove nav2_robot package

* remove CMakeList and package.xml dependence on nav2_robot

* robot_util classes for publishing and states

* changing all users of robot_ to their appropriate eq.

* changing the controller to use the nav2_utils velocity publisher wrapper as well

* adding shared locks properly to share get resources

* correct namespace nav2_robot -> nav2_util

* remove sharedptr references

* resolve merge conflicts

* Setting default to use AMCL topic to true

* fix rebase/merge conflicts

deleting robot package

* removing old maintainers from navigation1

* Switch from map service to topic (#885)

* Add parameter to disable map server

* Move parameter check to getParameters

* Uncrustify

* Don't mark static layer as current until we have a map

* Make sure static layer gets initialized

Make sure static layer gets initialized, even with an empty layer, so it doesn't crash if you disable the map service and enable the obstacle layer

* remove map service from static layer

Only use map topic instead
Subscribe to map topic with default transient local volatility
Add parameter "map_subscribe_transient_local" (default=true) for backwards compatibility with volatile publishers

* Change AMCL to use only the map topic, not map service

* remove now-unused MapServiceClient

* uncrustify

* only set current_=true when first map received

* Fix nav2_costmap inflation tests.

* Fixing collision tester test.

* Revert "uncrustify"

This reverts commit 82f88a7.
This uncrustify failure is enforced differently depending on whether
we are on the dashing branch or on the master branch. This particular
commit is only appropriate on the dashing branch, but is already present
there.

* change primitives to recoveries (#705)

* change primitives to recoveries

* changing all over new bringups with nav2_recoveries

* renaming primitive_name -> recovery_name

* stop robot on cancel in recovery

* fixed recovery node halt bug

* removing nav2_robot package

* adding lifecycle publisher for dwb

* Removing unneeded tf initialization calls

* Remove dedicated thread from costmap

* Add support for new createTimerInterface API

* Fix system test launch file.

* updated the build scripts for ROS2 Dashing (#924)

* run build from anywhere in tree

* renaming dependencies because its driving me up a wall autocomplete for nav doesnt work

* remove extra files re-introduced in PR #704

* set align critics scale to 0 (#936)

* fix typo in build tool updates

* Nav2-rviz-plugin changes. (#937)

* I added a timeout to spin_until_future_complete, so rviz doesn't get frozen if something goes wrong in the navigation stack. I did some changes in the start navigation; - changed the funtion type to boolean - added returns to the funtion, so it will return false if something goes wrong. I changed goal_tool added a if statement to check if start_navigation doesn't return false before calling any other functions in goal_tool

* made the code cleaner and changed the error messages. Reduced the timeout value to 3 seconds. The timeouts will be parametrized in the future.

* added timeout parameter

* fix linter failures in Rviz plugin (#979)

* I added a timeout to spin_until_future_complete, so rviz doesn't get frozen if something goes wrong in the navigation stack. I did some changes in the start navigation; - changed the funtion type to boolean - added returns to the funtion, so it will return false if something goes wrong. I changed goal_tool added a if statement to check if start_navigation doesn't return false before calling any other functions in goal_tool

* made the code cleaner and changed the error messages. Reduced the timeout value to 3 seconds. The timeouts will be parametrized in the future.

* added timeout parameter

* Update navigation_dialog.cpp

* Update navigation_dialog.hpp

* Update navigation_dialog.cpp

* Update navigation_dialog.hpp

* Fixing typo in dependencies (#982)

* Fixing typo in dependencies

* Also remove some duplicate dependencies

* Fixing robot_state_publisher dependency

* Add support to change the local controller rate. (#970)

* Add back parameter to configure DWA rate

* Report out if we missed our control loop time.

* Fix the dashing build on OSRF build farm. (#935)

All our builds have boost installed due to other dependencies, so
we've never run into this. The build farm must build with all other
dependencies removed somehow.

* bump for release to 0.2.2

* Fix for TEB local planner buildable (#981)

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>

* adding rate loops where applicable (#743)

* adding rate loops where applicable

* throttle while loops with sleep_for

* sleep_dir -> sleep_dur

* enabling closed-loop control in spin (#983)

* implemented controlled spin

* remove files reintroduced (#991)

* collision checkers in recoveries now look sufficiently far ahead in the local coordinate frame

* removing whitespace

* revert to global: need PR for TF positioning merged before can fix that

* Creating a simple action server to be able to invoke Random Crawl from BT (#945)

added random crawl action to bt

* amcl particlecloud is best effort (#1003)

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

* Disable displaying RobotModel in Rviz by default (#1001)

* returning failed if recovery cannot be completed due to collision

* backing out collision detection into a new fuction

* removing extraneous visualization from tests that have been removed

* revert my own config

* make ye old linter happy

* Footprint subscriber const topic

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* Costmap subscriber const topic

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* fixing PR feedback to stopRobot() in better location and parameterization

* removing unnecessary smart pointers that dont effect lifecycle

* lifecycle executor doesnt need to be a pointer

* removing extra PR template field in application no one uses

* Reorganize some of the BehaviorTree-related code (#957)

* Reorganize some of the BehaviorTree-related code.

Eliminate the NavigateToPoseBehaviorTree class, merging it with the BehaviorTreeEngine.
Put clear_entirely service client with the others in nav2_util.
Move RecoveryNode to nav2_behavior_tree with the other BT nodes.

* Remove method signature that isn't implemented yet

* Add a missing dependency

* Address a couple linter issues

* Tf based positioning (#993)

* remove topic based positioning for TF and removing extraneous build fields

* robot utils complete for getting positioning from TF

* readding the custom logger for getting current pose

* remove extra TODO

* fixing fun crustyness

* pass by ref not shared ptr

* wrapping costmap 2d's get pose with util

* revert costmap 2d plugin initialization swap

* fixing more uncrustified issues while I wait

* adding transform listener to buffers

* adding tf listeners and missing dependencies

* editing test cases

* trying no exception

* first stab at unit tests with TF2 for costmap 2D integration test

* adding the create timer interface

* adding updated pose info for testing

* com'n crusty code, why are you different in CI?

* fixing merge conflicts p2

* remove unnecessary CMake code to remove warning (#1005)

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

* disabling by default the debug markers for local planner (#1007)

* adding deprecation warning for topic-based goal navigation

* fixing spin recovery

* incorrect topic names

* Provide correct path to default map (#987)

* Extend the costmap's namespace with the hosting node's namespace (#999)

* Parameter dumping utility (#902)

* Add a parameter dumping utility to nav2_utils

* Add some convenience functions to simplify declaring parameters

* Add some examples for AMCL

* Remove stray example file

* Default to dumping all nodes; throw/catch exceptions

* Address some review feedback

* Fix node name collisions (#1020)

* Fix node name collisions

Make sure service clients have a unique node name (this was a problem in recoveries nodes)
Delimit ros arguments with new `--ros-args`,`--`

* Uncrustify

* Fixing linter failures introduced in master (#1029)

* Fixing linter failures introduced in master

* Sort of fix test_occ_grid_cpp test but disable since it's flaky

* Disable failing test_collision_checker test

* Recovery using odometric poses and costmaps (#1023)

* recovery behaviors using the odometric positioning for pose estimation

* use local costmap information in recoveries

* fixing costmap namespacing for collision detector

* odometry based recoveries with collision checker global frame model

* on download, rosdep all necessary items, calling on each build is redundant

* doing rosdep install in a single call

* removing extraneous cd

* adding recoveries XML to simulation launch file (#1031)

* adding recoveries XML to simulation launch file

* fix typo from name vs frame odom

* refactor goal handle into panel

clean up

remove extra log info

* remove nav2 goal tool and address review feedback

* fix lint issue

* send pose via qt signal through goal tool

* remove navigation dialog

minor clean up

* use enum for action states

fix compile issues

remove extra semicolons

fix uncrustify

* add QBasicTimer

cleanup timer

* remove more unnecessary headers

* Add parallel testing jobs for each rmw vendor

* Fix yaml

* Fix yaml

* Use custom version of nightly instead

* Extend workflow for rmw testing on release

* Fix typo

* Try speeding up build by omitting job limit

* Ensure checksum.txt exist for restoring cache

* Set --load-average +1 from -j
For a 2CPU/4096MB CI resource

* Reorganized executor and add caching nonce

Improve env DRY'ness by using separate executors

Enable debug builds

Add nonce to caching to help avoid caching key collisions
between debug and release workflow paths

* Fix awk to print env to checksum

* Add .dockerhub build hooks
and add FROM_IMAGE to arguments

* Switch to custom docker repo

* Use symlinks to place Dockerfile with hooks
Tweak build hook to compensate for dockhub assumptions
DockerHub repo build rules:

source: master
tag: master
Dockerfile: /.dockerhub/nightly/Dockerfile

source: master
tag: master-rmw
Dockerfile: /.dockerhub/nightly-rmw/Dockerfile

source: /^.*-devel$
tag: {sourceref}
Dockerfile: /.dockerhub/devel/Dockerfile

* Have CI Dockerfile use ccache

* Add .dockerignore to avoid braking build cache
So tweaking unrelated files doesn't invalidate:
COPY ./ navigation2/

* Word wrap long command

* Combine ccache with Circle CI caching

* Correct terms for underlay and overlay
upstream -> underlay
navigation2,build,source -> overlay

* Change setup_underlay to setup_dependencies

* Share ccache across overlay and underlay

* Correct typo

* Add new line

* Always save ccache
avoid unnecessary checking step

* Hack to avoid breaking docker build cache
for COPY when changing Dockerfile itself.
This shouldn't be needed,
but does not seem to work without **
¯\_(ツ)_/¯

* Add adjustable build failure behavior
When FAIL_ON_BUILD_FAILURE is unset
failures from colcon build will be supressed
allowing for docker build to succeed.
This prevents DockerHub CI images from becoming stale
when branch build brakes, previously blocking DockerHub CI image builds.

* Enable nightly release tests
now that docker CI builds unset FAIL_ON_BUILD_FAILURE
thus its status is less indicative of master build breaking

* Avoid cache collisions for PRs with same branch name
by including unique PR number into cache key

CircleCI branch name substitution using {{ .Branch }}
does not prefix names with the repo name.
Thus PRs from separate forks using the same branch name could collide.

https://circleci.com/docs/2.0/env-vars/#built-in-environment-variables
https://circleci.com/docs/2.0/configuration-reference/#save_cache

* Do not share underlay cache across branchs/PRs

* Abridge lengthening cache key names

* Account for failed underlay builds
if we don't happen to clean the underlay
when we keep the underlay from the docker image

Copy logic to overlay for consistency in behavior

* Add epoch to cache key given caches are immutable
and use spaceless string concatenation in yaml
to split long key names into multiple lines.

Given the immutability of caches,
and that cache key matching is prefix based,
{{ epoch }} must be the last part of the cache-save key.

https://discuss.circleci.com/t/add-mechanism-to-update-existing-cache-key/9014/13
https://circleci.com/docs/2.0/caching/#restoring-cache
https://circleci.com/docs/2.0/configuration-reference/#save_cache
https://stackoverflow.com/questions/3790454/how-do-i-break-a-string-over-multiple-lines/21699210#comment65667554_21699210

* Clean workspace incase build_failed

* Improve underlay build cache
By only copying .repo file for vcs import of underlay
and move overlay copy just before rosdep install for overlay

* Remove duplicate copy of overlay .repos file
given the dockerfile now copies this directly into the overlay wrokspace

* Rename workspaces to underlay and overlay
To complete the standardization of terminology
ros_ws -> underlay_ws
nav2_ws -> overlay_ws

* Add on_checkout anchor
to make config more DRY

* Target nonfree tag to include connext

* Add ccache stats command
to print and zero ccache statistics
as well as ccache version and config

after restore of ccache cache
and after each underlay/overlay build

* Cleanup code coverage pipline
Use offical Codecov orb for uploading
make the coverage script more DRY

* Remove unnecessary indents

* Split debuild build and test
and make release tests more DRY

* Shorten config

* Print out lcov command when runing script

* Use  to avoid infinite recursion

* Add common_environment refrence
and make jobs more DRY

* Store ccache logs for CI debugging

* Simplify code coverage script
to prevent untented shell glob expansion

* Rename fields

* Store test result

* Copy test results into expected directory structure
See directory structure example in
https://circleci.com/docs/2.0/configuration-reference/#store_test_results

* Store test artifacts for debug uploaded results

* Support parallel testing

* Fix xargs line splitting

* Run colcon test-results to fail on test errors
Needed to use return status from test-results

* Lookup historical timing data by classname for split-by
E.g. "costmap_queue.CostmapQueue" in `costmap_queue/utest.gtest.xml` :

<testsuites tests="5" failures="0" disabled="0" errors="0" timestamp="2019-08-12T06:57:26" time="0.499" name="AllTests">
<script/>
<testsuite name="CostmapQueue" tests="5" failures="0" disabled="0" errors="0" time="0.499">
<testcase name="basicQueue" status="run" time="0" classname="costmap_queue.CostmapQueue"/>
<testcase name="bigTest" status="run" time="0.496" classname="costmap_queue.CostmapQueue"/>
<testcase name="linearQueue" status="run" time="0" classname="costmap_queue.CostmapQueue"/>
<testcase name="crossQueue" status="run" time="0.001" classname="costmap_queue.CostmapQueue"/>
<testcase name="limitedQueue" status="run" time="0.002" classname="costmap_queue.CostmapQueue"/>
</testsuite>
</testsuites>

* Show split count and omit unneeded xargs

* Simplify build using colcon mixins
and add build args for underlay and overlay mixins

* Override mixing in build hook

* Rename build hooks and tags

* Build overlay with same settings to maximize ccache hit rate

* Correct mixin typo

* Make checksum.txt more informative
by piping message into directly into file for debugging
and simplify digests inclusion for spotting hash diffs

* Fixing up paths for codecov.io report (#1036)

* Update .dockerignore

Co-Authored-By: Carl Delsey <carl.r.delsey@intel.com>

* Move rwm jobs back into nightly workflow

* Set genhtml as default and add case for ci

* Refactor config using commands

* Use paths instead of env

* Revert ccache anchor name

* Fix install linking

* Avoid using paths as keys
prefix matching fails when key includes slashes

* Rename yaml anchor

* Make sure lcov is installed for CI

* Fix the build due to access specifiers (#1040)

No idea why this builds under GCC but these changes were needed to build under clang.

* Mark timerEvent override (#1037)

* Add dummy Dockerfiles for setting repository links on Docker Hub

* Set exit and print trace in script

* Tweek tag names

* nav2_util::duration_from_seconds -> rclcpp::Duration::from_seconds (#1048)

* nav2_util::duration_from_seconds -> rclcpp::Duration::from_seconds

* Update nav2_costmap_2d/plugins/static_layer.cpp

oops!

Co-Authored-By: Carl Delsey <carl.r.delsey@intel.com>

* Rewrite nav2_map_server (#989)

Add GraphicsMagick API and use it to implement map_saver, map_loader
Removes dependency on SDL, creates installation dependency on libgraphicsmagick++; apt package libgraphicsmagick++1-dev
Allows saving in trinary, raw, or scale mode.
Added configurable image format pgm, png, etc.
Add warning when using scale mode with opaque format.
Remove SDL from map server
Extract repeated MapMode to shared enum class
Switch writing YAML to same library that reads it (yaml-cpp)
Add --help alias to map saver -h
Extract map yaml loading to its own function, with better error messages. Also fixed crash due to misuse of std::string constructor.

* Migrate image tag to rosplanning repo

* Enable AMCL to initialize at the origin, under control of a parameter

* Make sure everything shuts down cleanly

* Some cleanup and linting

* Address review feedback

* Also have to update the YAML file

* Remove the connection object for now. Needs further investigation

* Find all uses of yaw to quaternion and use new function

* Simplify a quaternion copy

* Restore COLCON_IGNORE file

* Oops. Missed a package dependency

* Fixing a rebase error

* Add missing dependencies to system tests (#1059)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* add tf2_geometry_msgs dependency

* Fix the updown test. (#1061)

* Fixing linter errors, accidentally commited.

* Export envs for arg in build hook

* Remove the setSimTime() method - not needed anymore

* Remove ros2param package dependency

* Fix indentation (#1065)

* BT Service node & implementations (#1055)

* generic ros service caller BT node

* BT specialty service callers using BT node service

* rename to reinitialize global localization

* uncrustify/lint

* changes per PR requests

* changing pose topics to goal_pose

* Removing deprecation warning

* Removing an accidentally re-introduced file

* use seconds in Duration

* Enable global planner tester (#927)

* use duration from seconds

* Add ctest loop script to system tests

* Set line buffering to 1 in system test launch

* Update README

* Update README for using ctest_loop script

* Recombine AMCL library components with AMCL to have consistent license (#1074)

* Move AMCL library files back to nav2_amcl package

* Fixing up naming so things compile again

* Transition copyright disable check to follow eig3 files.

* Transition amcl files license to LGPL 2.1

* Adding missing copyright headers to nav2_bringup package

* Adding missing copyright headers to nav2_common

* Fixing up include guard to match coding style

* Reformatting license to pass the copyright check

The change here is only whitespace changes - line length and paragraph
spacing, as well as the addition of the license title

* Relicensing file to better match the existing package

* Fixing readme to account for the new change

* Begin updating nav2_behavior_tree README

* Continue update of nav2_behavior_tree readme

* Add link to behavior tree basic nodes to README

Adding a link to the upstream documentation on behaviortree.dev

* Clarify Licensing throughout the repo (#1080)

* Add proper SPDX license IDs and repo LICENSE file

* Fixing a minor linter typo

* Use python yaml safe loader (#1085)

* Null-terminate string to dirname function (#1093)

possibly responsible for heisenbug #1079 (comment)

* Update to latest v2 BT Library (#1088)

* Revert CreateTimer change

* Revert "nav2_util::duration_from_seconds -> rclcpp::Duration::from_seconds (#1048)"

This reverts commit 7c473cd.

* Fix dependency exports

* Fixing missing boost dependency
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