UP-350 Upgrade nav2 to latest foxy version and add nav2_controllers

[sergigraum]

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Basic Info

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Info	Please fill out this column
Ticket(s) this addresses	(# see quote on top)
Primary OS tested on	(Ubuntu 20.04 LTS)
Reviewers	(@ashwinsushil @vicmassy )
Robotic platform tested on	(Gazebo simulation Search mission 3x Copter)

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How to run this PR feature

• The source changes are done in the following repositories: umd_nav2, umd_copter, umd_mission branch correspondency feat/upgrade_nav2.

Considering ROS_DOMAIN_ID=60 and NETWORK=local

Launch simulation for three copters as follows:

xhost +local:root

docker run -it --rm --net host --privileged --gpus all -e DISPLAY=$DISPLAY -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=graphics -e ROBOT_NAME=1 --mount type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix --mount type=bind,source=$HOME/umd2_ws/src/umd_robots,target=/umd_ws/src/umd_robots umdlife/umd-copter-simulation:v1.1 roslaunch umd_robots three_iris_mavros_sitl.launch

Modify three_copter_sim.yml docker-compose file as follows:

version: "3.4"

services:
  bridge:
    container_name: bridge
    image: umdlife/umd-bridge:v2.0.0
    network_mode: host
    environment:
      ROS_DOMAIN_ID: 60
      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
      CYCLONEDDS_URI: file:///dds.xml
    volumes:
      - type: bind
        source: $HOME/umd2_ws/src/umd_utils/cfg/local.xml
        target: /dds.xml
    command: ros2 run ros1_bridge parameter_bridge /bridge_topics /bridge_service_1_to_2 /bridge_service_2_to_1
  copter100:
    container_name: copter100
    image: umdlife/umd-copter-dev:vupgradenav2
    network_mode: host
    environment:
      ROBOT_MODEL: iris
      ROBOT_ID: 100/sitl
      ROS_DOMAIN_ID: 60
      NETWORK: local
    command: ros2 launch umd_copter_bt px4_bt_navigator.launch.py run_sim:=true
  copter101:
    container_name: copter101
    image: umdlife/umd-copter-dev:vupgradenav2
    network_mode: host
    environment:
      ROBOT_MODEL: iris
      ROBOT_ID: 101/sitl
      ROS_DOMAIN_ID: 60
      NETWORK: local
    command: ros2 launch umd_copter_bt px4_bt_navigator.launch.py run_sim:=true
  copter102:
    container_name: copter102
    image: umdlife/umd-copter-dev:vupgradenav2
    network_mode: host
    environment:
      ROBOT_MODEL: iris
      ROBOT_ID: 102/sitl
      ROS_DOMAIN_ID: 60
      NETWORK: local
    command: ros2 launch umd_copter_bt px4_bt_navigator.launch.py run_sim:=true
  mission:
    container_name: mission
    image: umdlife/umd-mission-dev:vupgradenav2
    network_mode: host
    environment:
      VPN: disable
      ROS_DOMAIN_ID: 60
      NETWORK: local
    command: ros2 launch umd_mission_core vienna_mission_core.launch.py run_sim:=true

Finally launch web as follows:

docker run -it --rm --name web --net host -e NETWORK=local -e ROS_DOMAIN_ID=60 -e VPN=disable --mount type=bind,source=$HOME/umd2_ws/src/umd_utils/cfg/networks.yaml,target=/networks.yaml --workdir /umd2_ws/src/umd_web/vienna-app/server umdlife/umd-web:v1.3.6

Select an area and launch a mission.

Description of contribution in a few bullet points

• Upgrade navigation2 to latest foxy commit d1ed5e4
• Added nav2_controller package
• Added controller dependencies nav_2d_utils nav_2d_msgs

Description of documentation updates required from your changes

• BehaviorTree.CPP library no longer uses buildTreeFromText but instead uses createTreeFromText
• This update still does not include lifecycle bonding due to incompatibilities in ros client library. create_callback_group() no longer exists after galactic as stated here. Therefore issues cannot be closed with this PR

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Future work that may be required in bullet points

• Modify nav2_controllers to support 3D controllers, especially for UAVs. (Custom)
• Update ROS_DISTRO to Humble next LTS (May 2022)
• Update nav2 when is supported. (Long term)

[vicmassy]

Looks good to me! I had to use a different version of umd-web, due to the one you pointed out crashed when uploading a vienna mission. I used umdlife/umd-web:vTelefonicaOut-JoyWebRTC-stacked. We will need to test this with real hardware and then we can move on to merging

[vicmassy]

RTBM! 👾 🚀