Nav2 not working in Jazzy

[Jannkar]

First of all, thank you for the amazing Andino repository!

While setting up the simulation based on the examples, I couldn't get the Nav2 to work in Jazzy branch. Looks like it is not yet migrated from Humble.

Environment

• OS Version: Ubuntu 24.04 (Used the provided Docker image)
• Source or binary build? Source, Jazzy branch

Description

• Expected behavior: Nav2 launches correctly when running the simulation with nav2 argument
• Actual behavior: Nav2 crashes

Steps to reproduce

1. Run the repository's Docker image
2. Launch the simulation with Nav2 ros2 launch andino_gz andino_gz.launch.py nav2:=True

Output

With Jazzy, there are at least a couple of new changes to Nav2 parameters.

1. Planner server Gridbased plugin is now called nav2_navfn_planner::NavfnPlanner (instead of nav2_navfn_planner/NavfnPlanner)
2. All the behavior server plugin names are also reformatted, for example nav2_behaviors::Spin instead of nav2_behaviors/Spin
3. Nav2 seems to require also parameters for the collision_monitor, as that's where the next crash happens:

[component_container_isolated-7] [INFO] [1730292983.492902672] [collision_monitor]: Configuring
[component_container_isolated-7] [ERROR] [1730292983.499392705] [collision_monitor]: Error while getting parameters: parameter 'polygons' is not initialized
[component_container_isolated-7] [ERROR] [1730292983.499763983] [lifecycle_manager_navigation]: Failed to change state for node: collision_monitor
[component_container_isolated-7] [ERROR] [1730292983.499782758] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

[francocipollone]

Hey there @Jannkar thanks for reporting this. Indeed you are right, there are some changes yet to tackle in Jazzy. Fully supporting Jazzy is in the road map but not achieved yet. In case you continue playing around with it and want to contribute with a fix I will happily review it