Humble version with the latest features

.github/thirdparty.repos

@@ -1,13 +1,13 @@
 repositories:
   ThirdParty/EasyNavigation:
     type: git
-    url: https://github.com/EasyNavigation/EasyNavigation.git
+    url: https://github.com/juanscelyg/EasyNavigation.git
     version: humble
   ThirdParty/yaets:
     type: git
     url: https://github.com/fmrico/yaets.git
     version: humble
   ThirdParty/NavMap:
     type: git
-    url: https://github.com/EasyNavigation/NavMap.git
+    url: https://github.com/juanscelyg/NavMap.git
     version: humble

.github/workflows/humble.yaml

@@ -7,33 +7,24 @@ on:
   push:
     branches:
       - humble
-  schedule:
-      - cron: '0 0 * * 6'     
+  workflow_dispatch:
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-22.04]
-      fail-fast: false
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:jammy
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
-        with:
-          ref: humble
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: humble
-      - name: Upgrade typing_extensions
-        run: python3 -m pip install --upgrade "typing_extensions>=4.7"
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
-          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
+          package-name: easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mpc_controller easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_octomap_maps_manager easynav_regulated_pp_controller easynav_routes_maps_manager easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
           target-ros2-distro: humble
-          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
-          skip-tests: true
+          vcs-repo-file-url: ${{ github.workspace }}/.github/thirdparty.repos
+          skip-tests: false
           colcon-defaults: |
             {
               "build": {

.github/workflows/jazzy.yaml

@@ -7,32 +7,26 @@ on:
   push:
     branches:
       - jazzy
-  schedule:
-      - cron: '0 0 * * 6'     
+  workflow_dispatch:
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
         with:
           ref: jazzy
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: jazzy
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
-          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
+          package-name: easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
           target-ros2-distro: jazzy
           vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
-          skip-tests: true
+          skip-tests: false
           colcon-defaults: |
             {
               "build": {

.github/workflows/jazzy_cron.yaml

@@ -0,0 +1,44 @@
+name: jazzy
+
+on:
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v4
+        with:
+          ref: jazzy
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
+          skip-tests: false
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              },
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/kilted.yaml

@@ -7,32 +7,25 @@ on:
   push:
     branches:
       - kilted
-  schedule:
-      - cron: '0 0 * * 6'     
+  workflow_dispatch:
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
         with:
           ref: kilted
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: kilted
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
-          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
+          package-name: easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
           target-ros2-distro: kilted
-          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
-          skip-tests: true
+          skip-tests: false
           colcon-defaults: |
             {
               "build": {

.github/workflows/kilted_cron.yaml

@@ -0,0 +1,44 @@
+name: kilted
+
+on:
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v4
+        with:
+          ref: kilted
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
+          target-ros2-distro: kilted
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
+          skip-tests: false
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              },
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/lyrical.yaml

@@ -0,0 +1,49 @@
+name: lyrical
+
+on:
+  pull_request:
+    branches:
+      - lyrical
+  push:
+    branches:
+      - lyrical
+  schedule:
+      - cron: '0 0 * * 6'
+  workflow_dispatch:
+jobs:
+  build-and-test:
+    runs-on: ubuntu-26.04
+    container:
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-resolute-ros-lyrical-ros-base:master
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v6
+        with:
+          ref: lyrical
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.8
+        with:
+          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
+          target-ros2-distro: lyrical
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
+          skip-tests: false
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              },
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/rolling.yaml

@@ -8,31 +8,25 @@ on:
     branches:
       - rolling
   schedule:
-      - cron: '0 0 * * 6'     
+      - cron: '0 0 * * 6'
+  workflow_dispatch:
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-26.04
+    container:
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-resolute-ros-rolling-ros-base:master
     steps:
       - name: Repo checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: rolling
-      - name: Setup ROS 2
-        uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: rolling
-
       - name: build and test
-        uses: ros-tooling/action-ros-ci@0.4.5
+        uses: ros-tooling/action-ros-ci@0.4.8
         with:
-          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
+          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
           target-ros2-distro: rolling
           vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
-          skip-tests: true
+          skip-tests: false
           colcon-defaults: |
             {
               "build": {

.gitignore

@@ -0,0 +1,8 @@
+# VS Code stuff 
+/.vscode/**
+**/__pycache__/
+
+# ROS 2 build files
+build/
+install/
+log/