Port terrain-navigation to ROS 2 Humble

[srmainwaring]

Initial port of terrain-navigation to ROS 2 Humble.

Dependencies

There are changes required in upstream repos which require PRs. Working branches are listed below:

• Port mav_msgs to ROS 2 mav_comm#90
• Updates to cmake and launch files to support ROS 2 build on macOS  grid_map_geo#26

Status

Packages up to terrain_navigation_ros are building and the main node is running.

$ ros2 run terrain_navigation_ros terrain_planner_node

$ ros2 node info /terrain_planner
/terrain_planner
  Subscribers:
    /mavros/camera/image_captured: mavros_msgs/msg/CameraImageCaptured
    /mavros/global_position/global: sensor_msgs/msg/NavSatFix
    /mavros/global_position/gp_origin: geographic_msgs/msg/GeoPointStamped
    /mavros/local_position/pose: geometry_msgs/msg/PoseStamped
    /mavros/local_position/velocity_local: geometry_msgs/msg/TwistStamped
    /mavros/mission/waypoints: mavros_msgs/msg/WaypointList
    /mavros/state: mavros_msgs/msg/State
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /camera_pose_marker: visualization_msgs/msg/Marker
    /candidate_goal_marker: visualization_msgs/msg/Marker
    /candidate_start_marker: visualization_msgs/msg/Marker
    /geometric_controller/path: nav_msgs/msg/Path
    /goal_marker: visualization_msgs/msg/Marker
    /grid_map: grid_map_msgs/msg/GridMap
    /mavros/setpoint_raw/global: mavros_msgs/msg/GlobalPositionTarget
    /mavros/setpoint_raw/local: mavros_msgs/msg/PositionTarget
    /mavros/trajectory/generated: mavros_msgs/msg/Trajectory
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /path_segments: visualization_msgs/msg/MarkerArray
    /planned_viewpoints: visualization_msgs/msg/MarkerArray
    /planner_status: planner_msgs/msg/NavigationStatus
    /position_target: visualization_msgs/msg/Marker
    /rallypoints_marker: visualization_msgs/msg/MarkerArray
    /reference/path: nav_msgs/msg/Path
    /rosout: rcl_interfaces/msg/Log
    /tree: visualization_msgs/msg/MarkerArray
    /vehicle_path: nav_msgs/msg/Path
    /vehicle_pose_marker: visualization_msgs/msg/Marker
    /vehicle_velocity: visualization_msgs/msg/Marker
    /viewpoints: visualization_msgs/msg/MarkerArray
  Service Servers:
    /terrain_planner/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /terrain_planner/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /terrain_planner/get_parameters: rcl_interfaces/srv/GetParameters
    /terrain_planner/list_parameters: rcl_interfaces/srv/ListParameters
    /terrain_planner/set_current_segment: planner_msgs/srv/SetService
    /terrain_planner/set_goal: planner_msgs/srv/SetVector3
    /terrain_planner/set_location: planner_msgs/srv/SetString
    /terrain_planner/set_max_altitude: planner_msgs/srv/SetString
    /terrain_planner/set_parameters: rcl_interfaces/srv/SetParameters
    /terrain_planner/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
    /terrain_planner/set_path: planner_msgs/srv/SetVector3
    /terrain_planner/set_planner_state: planner_msgs/srv/SetPlannerState
    /terrain_planner/set_start: planner_msgs/srv/SetVector3
    /terrain_planner/set_start_loiter: planner_msgs/srv/SetService
    /terrain_planner/trigger_planning: planner_msgs/srv/SetVector3
  Service Clients:
    /mavros/cmd/command: mavros_msgs/srv/CommandLong
  Action Servers:

  Action Clients:

Tasks

Residual issues to resolve:

• Fix GridMap display in rviz (not showing even with reload, is working for ROS 2 in grid_map_geo)