Use PoseStampedArray

[tonynajjar]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

This pull request is in conflict. Could you fix it @tonynajjar?

[mergify]

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[mergify]

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[tonynajjar]

@SteveMacenski as usual draft PR, before I spend more time on it can you confirm this is the direction we want to go in as discussed in #4771?

[SteveMacenski]

Otherwise, no notes. Just docs for the migration guide and probably an FYI notification on Discourse/Slack would be good so folks expect it

:-)

[mergify]

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[tonynajjar]

just for CI testing. Do you know when we can remove this? Are rolling binaries released nightly?

[SteveMacenski]

No, they are released monthlyish like other ROS distributions - it'll take a few weeks before we can remove it 😦

[mergify]

@tonynajjar, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[tonynajjar]

Just docs for the migration guide

ros-navigation/docs.nav2.org#630

FYI notification on Discourse/Slack would be good so folks expect it

Will do after the final review, can you give it another look?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
...avior_tree/include/nav2_behavior_tree/bt_utils.hpp	100.00% <100.00%> (ø)
...ugins/action/compute_path_through_poses_action.hpp	100.00% <100.00%> (ø)
...e/plugins/action/navigate_through_poses_action.hpp	100.00% <100.00%> (ø)
...lugins/action/remove_in_collision_goals_action.hpp	100.00% <100.00%> (ø)
...tree/plugins/action/remove_passed_goals_action.hpp	100.00% <100.00%> (ø)
...gins/condition/globally_updated_goal_condition.hpp	100.00% <100.00%> (ø)
..._tree/plugins/condition/goal_updated_condition.hpp	100.00% <100.00%> (ø)
...tree/plugins/decorator/goal_updated_controller.hpp	100.00% <100.00%> (ø)
...havior_tree/plugins/decorator/speed_controller.hpp	100.00% <100.00%> (ø)
...lugins/action/remove_in_collision_goals_action.cpp	87.09% <100.00%> (ø)
... and 8 more

... and 4 files with indirect coverage changes

[SteveMacenski]

I'm generally noticing that the header stamp/frame isn't being populated in some places and I think it aught to be if we're going to be using it to check for updates. I believe that all things that populate a PoseStampedArray should have its header fully populated.