Enable Groot2 monitoring

[ajtudela]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4957
Primary OS tested on	Ubuntu 24.04
Robotic platform tested on	Morphia robot
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• Reverted commits from the old Groot and adapted to Groot2 by moving the groot monitor to each navigator.
• Added parameters to enable Groot2 and its ports in each navigator.
• Added a header (json_utils.hpp) similar to bt_utils.hpp to convert from/to the input/output used in Nav2.
• Common types are registered in addGrootMonitoring, while port-related types are registered in each BT node.
• Currently there is a bug related to std::vector here and with Groot 2 here. Pinging @facontidavide for more visibility,

Description of documentation updates required from your changes

Description of how this change was tested

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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

[SteveMacenski]

Great! Really no real notes.

For the docs:

• Migration guide entry that this is possible
• Config guide for params
• Tutorial for BT node should be updated to add in the json bits and give a link to this PR for how to implement with the json files and for custom nodes registering it in the node header. I think some explanation here is required for what functions need to be implemented for custom nodes and the registration process

[SteveMacenski]

Also your groot monitoring test failed :-)

[ajtudela]

All notes are easy to address. I'll fix them and start documenting.

[SteveMacenski]

FYI: The new navigate through poses update PR was merged, so I think the WaypointStatus message needs to be added to the parser now and updated in those BT nodes (#4994)

[mergify]

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

[codecov]

Codecov Report

Attention: Patch coverage is 96.38554% with 3 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...avior_tree/include/nav2_behavior_tree/bt_utils.hpp	90.47%	2 Missing ⚠️
...ior_tree/include/nav2_behavior_tree/json_utils.hpp	97.43%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...nclude/nav2_behavior_tree/behavior_tree_engine.hpp	100.00% <ø> (ø)
...tree/include/nav2_behavior_tree/bt_action_node.hpp	81.39% <ø> (+0.77%)	⬆️
...ee/include/nav2_behavior_tree/bt_action_server.hpp	83.33% <ø> (ø)
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	89.88% <100.00%> (+0.41%)	⬆️
...ree/include/nav2_behavior_tree/bt_service_node.hpp	84.28% <ø> (ø)
...ugins/action/compute_path_through_poses_action.hpp	100.00% <ø> (ø)
...ree/plugins/action/compute_path_to_pose_action.hpp	100.00% <ø> (ø)
...ehavior_tree/plugins/action/follow_path_action.hpp	100.00% <ø> (ø)
..._tree/plugins/action/get_pose_from_path_action.hpp	100.00% <ø> (ø)
...e/plugins/action/navigate_through_poses_action.hpp	100.00% <ø> (ø)
... and 21 more

... and 2 files with indirect coverage changes

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[ajtudela]

All tests have passed and I added json conversion for waypoint_status. Now we just have to wait for Davide to fix the bug with the vectors.

Doc is here: ros-navigation/docs.nav2.org#672

[SteveMacenski]

Thanks! Just waiting on a docs update and I'll merge the pair

[ajtudela]

Thanks! Just waiting on a docs update and I'll merge the pair

I think we have to wait until the vector bug is fixed, otherwise Groot 2 will start crashing for people using the blackboard introspection :S

Another option is to comment the affected lines (poses from Goals and Path msgs) and merge this PR and, when the bug is fixed, uncommented those lines.

[SteveMacenski]

I think we have to wait until the vector bug is fixed

Can you link that here? Is it imminent to be merged / worked on? If so, then I think we can merge here and leave it to Groot to update in the short time horizon.

Else, I think we could still merge, but add a note in the migration guide about the shortfall and link to the ticket being worked on to resolve it

[ajtudela]

Can you link that here? Is it imminent to be merged / worked on? If so, then I think we can merge here and leave it to Groot to update in the short time horizon.

Issues and PR are linked in the description. I'm in no rush to merge. But yes, I'll add a note to the documentation and we can merge this.

[SteveMacenski]

I'd say just merge since we did what we needed on our side and make a note in the migration guide that there's an issue with vectors. I think that's on the other tool, not us :-)