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- Updated build system to ament_cmake and updated package.xml dependencies. - Converted all ROS 1 nodes, subscribers, and publishers to rclcpp in C++. - Ported all TF transformations and logic from tf/tf_ros to tf2/tf2_ros. - Translated XML launch files to modern ROS 2 Python LaunchDescription. - Addressed multiple dynamic allocation heap errors and memory corruption bugs (double-frees). - Created a robust gtest validation suite ensuring C++ parity and stability. Co-authored-by: karlkurzer <10877966+karlkurzer@users.noreply.github.com>
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This pull request performs a comprehensive migration of the codebase from ROS 1 to ROS 2 Jazzy.
Highlights:
Planner,CollisionDetection, andDynamicVoronoiremained fully intact.ament_cmake.ros::abstractions to theirrclcppequivalents (includingrclcpp::Node, publisher/subscriptions, timing components, and execution flows). TF has also been completely moved totf2_ros.test_parity.cppevaluating end-to-end functionality viagtestverifying that planner path calculation remains viable in the upgraded context.binMaparray ownership conflicts, non-deterministictf2::TransformListenerthreading) have been systematically resolved ensuring stable ASAN execution profiles.PR created automatically by Jules for task 13208419609819799497 started by @karlkurzer