Prepare for State transitions

[fmrico]

Hi,

This PR ensures that al the plugins in EasyNav are ready to any LifeCycle transition.

Related to EasyNavigation/EasyNavigation#120

I hope you find it useful

[Copilot]

🟡 Changes recommended

Resolve the navmap-localizer initialization issue, add missing test manifest dependencies, satisfy the EasyNavigation#120 prerequisite, and build/export the octomap filter.

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Pull request overview

Prepares EasyNav planners, map managers, localizers, and controllers for lifecycle reconfiguration by making parameter initialization repeatable and adding regression coverage.

Changes:

• Guard parameter declarations and loading during repeated initialization.
• Add and enable reconfiguration tests.
• Update UKF parameter loading for repeated initialization.

Approval is blocked by unresolved initialization, dependency, prerequisite, and filter build-integration findings.

File summaries

File	Reviewed change
planners/easynav_simple_planner/tests/simple_planner_reconfigure_tests.cpp	Adds a repeated-initialization test; requires the EasyNavigation#120 base-class change.
planners/easynav_simple_planner/tests/CMakeLists.txt	Builds the test; requires the rclcpp_lifecycle test manifest dependency.
planners/easynav_simple_planner/src/easynav_simple_planner/SimplePlanner.cpp	Guards parameter declarations.
planners/easynav_simple_planner/CMakeLists.txt	Enables tests.
planners/easynav_navmap_planner/tests/navmap_planner_reconfigure_tests.cpp	Adds a repeated-initialization test.
planners/easynav_navmap_planner/tests/CMakeLists.txt	Builds the test; requires the rclcpp_lifecycle test manifest dependency.
planners/easynav_navmap_planner/src/easynav_navmap_planner/AStarPlanner.cpp	Guards parameter declarations.
planners/easynav_navmap_planner/CMakeLists.txt	Enables tests.
planners/easynav_costmap_planner/tests/costmap_planner_reconfigure_tests.cpp	Adds a repeated-initialization test.
planners/easynav_costmap_planner/tests/CMakeLists.txt	Builds the test; requires the rclcpp_lifecycle test manifest dependency.
planners/easynav_costmap_planner/src/easynav_costmap_planner/CostmapPlanner.cpp	Guards parameter declarations.
planners/easynav_costmap_planner/CMakeLists.txt	Enables tests.
maps_managers/easynav_simple_maps_manager/tests/simple_mapsmanager_reconfigure_tests.cpp	Adds a repeated-initialization test.
maps_managers/easynav_simple_maps_manager/tests/CMakeLists.txt	Registers the test.
maps_managers/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp	Guards parameter declarations.
maps_managers/easynav_routes_maps_manager/tests/routes_mapsmanager_reconfigure_tests.cpp	Adds a repeated-initialization test.
maps_managers/easynav_routes_maps_manager/tests/CMakeLists.txt	Registers the test.
maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/InflationFilter.cpp	Guards inflation parameters; the filter must be built and exported for runtime effect.
maps_managers/easynav_navmap_maps_manager/tests/navmap_mapsmanager_reconfigure_tests.cpp	Adds a repeated-initialization test.
maps_managers/easynav_navmap_maps_manager/tests/CMakeLists.txt	Registers the test.
maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/NavMapMapsManager.cpp	Guards manager and filter parameters.
maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/filters/InflationFilter.cpp	Guards filter parameters.
maps_managers/easynav_costmap_maps_manager/tests/costmap_mapsmanager_reconfigure_tests.cpp	Adds a repeated-initialization test.
maps_managers/easynav_costmap_maps_manager/tests/CMakeLists.txt	Registers the test.
maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/InflationFilter.cpp	Guards inflation parameters.
maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/CostmapMapsManager.cpp	Guards manager and filter parameters.
maps_managers/easynav_bonxai_maps_manager/tests/CMakeLists.txt	Builds the test; requires the rclcpp_lifecycle test manifest dependency.
maps_managers/easynav_bonxai_maps_manager/tests/bonxai_maps_manager_reconfigure_tests.cpp	Adds a repeated-initialization test.
maps_managers/easynav_bonxai_maps_manager/src/easynav_bonxai_maps_manager/BonxaiMapsManager.cpp	Guards parameter declarations.
maps_managers/easynav_bonxai_maps_manager/CMakeLists.txt	Enables tests.
localizers/easynav_simple_localizer/tests/simple_localizer_reconfigure_tests.cpp	Adds a repeated-initialization test.
localizers/easynav_simple_localizer/tests/CMakeLists.txt	Registers the test.
localizers/easynav_simple_localizer/src/easynav_simple_localizer/AMCLLocalizer.cpp	Guards parameter declarations.
localizers/easynav_navmap_localizer/tests/navmap_localizer_reconfigure_tests.cpp	Adds a repeated-initialization test.
localizers/easynav_navmap_localizer/tests/CMakeLists.txt	Registers the test.
localizers/easynav_navmap_localizer/src/easynav_navmap_localizer/AMCLLocalizer.cpp	Guards parameter declarations; independently initialized defaults are needed before distributions are constructed.
localizers/easynav_gps_localizer/tests/gps_localizer_reconfigure_tests.cpp	Adds a repeated-initialization test.
localizers/easynav_gps_localizer/tests/CMakeLists.txt	Registers the test.
localizers/easynav_gps_localizer/src/easynav_gps_localizer/GpsLocalizer.cpp	Guards optional parameters.
localizers/easynav_fusion_localizer/tests/fusion_localizer_reconfigure_tests.cpp	Adds a repeated-initialization test.
localizers/easynav_fusion_localizer/tests/CMakeLists.txt	Registers the test.
localizers/easynav_fusion_localizer/src/easynav_fusion_localizer/ukf_wrapper.cpp	Makes UKF parameter loading repeatable.
localizers/easynav_fusion_localizer/src/easynav_fusion_localizer/FusionLocalizer.cpp	Guards GPS parameters.
localizers/easynav_costmap_localizer/tests/costmap_localizer_reconfigure_tests.cpp	Adds a repeated-initialization test.
localizers/easynav_costmap_localizer/tests/CMakeLists.txt	Registers the test.
localizers/easynav_costmap_localizer/src/easynav_costmap_localizer/AMCLLocalizer.cpp	Guards parameter declarations.
controllers/easynav_vff_controller/tests/vff_controller_reconfigure_tests.cpp	Adds a repeated-initialization test.
controllers/easynav_vff_controller/tests/CMakeLists.txt	Builds the test; requires the ament_cmake_gtest test manifest dependency.
controllers/easynav_vff_controller/src/easynav_vff_controller/VffController.cpp	Guards parameter declarations.
controllers/easynav_vff_controller/CMakeLists.txt	Enables tests; requires the ament_cmake_gtest test manifest dependency.
controllers/easynav_simple_controller/src/easynav_simple_controller/SimpleController.cpp	Guards parameter declarations.
controllers/easynav_serest_controller/tests/serest_controller_reconfigure_tests.cpp	Adds a repeated-initialization test.
controllers/easynav_serest_controller/tests/CMakeLists.txt	Builds the test.
controllers/easynav_serest_controller/src/easynav_serest_controller/SerestController.cpp	Guards parameter declarations.
controllers/easynav_serest_controller/CMakeLists.txt	Enables tests.
controllers/easynav_regulated_pp_controller/tests/regulated_pp_controller_reconfigure_tests.cpp	Adds a repeated-initialization test.
controllers/easynav_regulated_pp_controller/tests/CMakeLists.txt	Builds the test.
controllers/easynav_regulated_pp_controller/src/easynav_regulated_pp_controller/RegulatedPurePursuitController.cpp	Makes parameter loading repeatable.
controllers/easynav_mppi_controller/tests/mppi_controller_reconfigure_tests.cpp	Adds a repeated-initialization test.
controllers/easynav_mppi_controller/tests/CMakeLists.txt	Builds the test.
controllers/easynav_mppi_controller/src/easynav_mppi_controller/MPPIController.cpp	Guards parameter declarations.
controllers/easynav_mppi_controller/CMakeLists.txt	Enables tests.
controllers/easynav_mpc_controller/tests/mpc_controller_reconfigure_tests.cpp	Adds a repeated-initialization test.
controllers/easynav_mpc_controller/tests/CMakeLists.txt	Builds the test.
controllers/easynav_mpc_controller/src/easynav_mpc_controller/MPCController.cpp	Guards parameter declarations.
controllers/easynav_mpc_controller/CMakeLists.txt	Enables tests.

Review details

Suppressed comments (4)

controllers/easynav_vff_controller/CMakeLists.txt:70

• The newly enabled test target requires ament_cmake_gtest, but controllers/easynav_vff_controller/package.xml does not declare it as a test_depend. rosdep may therefore omit the package and make this REQUIRED lookup fail in an isolated build; add the manifest dependency.

  find_package(ament_cmake_gtest REQUIRED)
  add_subdirectory(tests)

controllers/easynav_vff_controller/tests/CMakeLists.txt:1

• This newly enabled test target requires ament_cmake_gtest, but this package's package.xml has no <test_depend>ament_cmake_gtest</test_depend>. In a clean package build the test dependency may not be installed, so add it to the manifest along with enabling this target.

find_package(ament_cmake_gtest REQUIRED)

maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/filters/InflationFilter.cpp:193

• This filter is not compiled into ${PROJECT_NAME}: easynav_octomap_maps_manager/CMakeLists.txt comments out src/easynav_octomap_maps_manager/filters/InflationFilter.cpp (and its plugin export). Consequently this lifecycle fix has no runtime effect; include the source/plugin in the build if this filter is intended to be supported.
  planners/easynav_simple_planner/tests/simple_planner_reconfigure_tests.cpp:46
• This new test directly calls MethodBase::initialize() twice, but the currently referenced easynav_core implementation still declares <plugin>.rt_freq and <plugin>.freq unconditionally before on_initialize(), so the second call throws before this plugin's new guards run. Please make the EasyNavigation#120 base-class change an explicit prerequisite/available dependency, or this regression test will fail in a normal build.

• Files reviewed: 66/66 changed files
• Comments generated: 5
• Review effort level: Lite

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