Fix: Select hangar_sim nav2 params by ROS distro so Jazzy navigation starts

src/hangar_sim/CMakeLists.txt

@@ -35,6 +35,9 @@ if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_add_pytest_test(
+          nav2_params_distro_parity_test test/nav2_params_distro_parity_test.py
+          TIMEOUT 60)
   # Redirect ROS node logs into the test_results tree so the test-results CI
   # artifact ships them back too. Default would be ~/.ros/log/, which lives
   # on the doomed container filesystem and never gets uploaded -- making

src/hangar_sim/launch/sim/robot_drivers_to_persist_sim.launch.py

@@ -35,6 +35,7 @@
     DeclareLaunchArgument,
     GroupAction,
     IncludeLaunchDescription,
+    LogInfo,
     SetEnvironmentVariable,
 )
 from launch.conditions import IfCondition
@@ -142,9 +143,39 @@ def generate_launch_description():
         description="Use simulation clock if true",
     )
 
+    # Nav2's pluginlib lookup names differ by distro: Humble exports `pkg/Class`,
+    # Jazzy exports `pkg::Class`, and the two are mutually exclusive. Jazzy's
+    # bt_navigator also loads its default BT plugin libraries implicitly, so
+    # listing them again double-registers every node. Each distro therefore gets
+    # its own parameter file. This is the only place the choice is made: every
+    # nav2 consumer below -- the slam, localization and navigation includes, and
+    # the nav2_container node -- takes it from the `params_file` argument.
+    # Anything that is not Jazzy gets the Humble file, which is correct for the
+    # two distros the 9.4 line publishes; a future distro must be added here
+    # explicitly rather than inheriting the Humble form by default.
+    ros_distro = os.environ.get("ROS_DISTRO", "")
+    nav2_params_file = (
+        "nav2_params_jazzy.yaml" if ros_distro == "jazzy" else "nav2_params.yaml"
+    )
+    # The wrong branch reproduces the bug this selection exists to avoid, and the
+    # only symptom is nav2_container aborting, so name the choice in the log.
+    nav2_params_log = LogInfo(
+        msg=(
+            [f"nav2 params (ROS_DISTRO={ros_distro}): ", params_file]
+            if ros_distro in ("humble", "jazzy")
+            else [
+                f"WARNING: ROS_DISTRO={ros_distro or 'unset'} is not a distro "
+                f"hangar_sim ships nav2 parameters for; defaulting to "
+                f"{nav2_params_file}, which is only correct for Humble. "
+                "nav2 params: ",
+                params_file,
+            ]
+        )
+    )
+
     declare_params_file_cmd = DeclareLaunchArgument(
         "params_file",
-        default_value=os.path.join(config_dir, "params", "nav2_params.yaml"),
+        default_value=os.path.join(config_dir, "params", nav2_params_file),
         description="Full path to the ROS2 parameters file to use for all launched nodes",
     )
 
@@ -371,6 +402,7 @@ def generate_launch_description():
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_use_sim_time_cmd)
     ld.add_action(declare_params_file_cmd)
+    ld.add_action(nav2_params_log)
     ld.add_action(declare_autostart_cmd)
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)

src/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml

@@ -27,10 +27,15 @@
         user_pose="{goal}"
         view_name="Visualization"
       />
+      <!-- Empty makes nav2 use its own default_nav_to_pose_bt_xml, which keeps this
+           objective free of a distro-specific path. Note the default tree is not
+           identical across distros: Jazzy's backs up faster and gates recovery on
+           error codes. Pin default_nav_to_pose_bt_xml in the params files if the
+           recovery behavior ever needs to match exactly. -->
       <Action
         ID="NavigateToPoseAction"
         action_name="/navigate_to_pose"
-        behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
+        behavior_tree_path=""
         pose_stamped="{goal}"
       />
       <Action

src/hangar_sim/package.xml

@@ -35,6 +35,9 @@
   <exec_depend>moveit_pro_sam2</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>python3-yaml</test_depend>
 
   <test_depend>ament_clang_format</test_depend>
   <test_depend>ament_clang_tidy</test_depend>