From bd8f1c3b62ec744dc626e30e2ddcbe5896ebc8f4 Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Thu, 21 Dec 2023 15:25:24 -0800
Subject: [PATCH] fix backport speciifc issues

---
 .../navigate_w_basic_row_complete_coverage.xml            | 4 ++--
 opennav_coverage_demo/launch/row_bringup_launch.py        | 4 ++--
 opennav_row_coverage/test/test_swath_generator.cpp        | 8 ++++----
 opennav_row_coverage/test/test_utils.cpp                  | 4 ++--
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml b/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml
index 7a2fc52..1251883 100644
--- a/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml
+++ b/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml
@@ -18,8 +18,8 @@
         <!-- May use:
          'polygons="{field_polygon}" polygons_frame_id="{polygon_frame_id}"' if set polygon via NavigateCompleteCoverage
          or file_field="{field_filepath}" if setting polygon file via NavigateCompleteCoverage -->
-        <ComputeCoveragePath nav_path="{path}" file_field="{field_filepath}" error_code_id="{compute_coverage_error_code}"/>
-        <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+        <ComputeCoveragePath nav_path="{path}" file_field="{field_filepath}"/>
+        <FollowPath path="{path}" controller_id="FollowPath"/>
       </Sequence>
     </RateController>
   </BehaviorTree>
diff --git a/opennav_coverage_demo/launch/row_bringup_launch.py b/opennav_coverage_demo/launch/row_bringup_launch.py
index 155aa0f..d185815 100644
--- a/opennav_coverage_demo/launch/row_bringup_launch.py
+++ b/opennav_coverage_demo/launch/row_bringup_launch.py
@@ -76,8 +76,8 @@ def generate_launch_description():
                 parameters=[configured_params],
                 remappings=remappings),
             ComposableNode(
-                package='nav2_bt_navigator',
-                plugin='nav2_bt_navigator::BtNavigator',
+                package='backported_bt_navigator',
+                plugin='backported_bt_navigator::BtNavigator',
                 name='bt_navigator',
                 parameters=[configured_params],
                 remappings=remappings),
diff --git a/opennav_row_coverage/test/test_swath_generator.cpp b/opennav_row_coverage/test/test_swath_generator.cpp
index 11fbf3c..1a4e1e6 100644
--- a/opennav_row_coverage/test/test_swath_generator.cpp
+++ b/opennav_row_coverage/test/test_swath_generator.cpp
@@ -58,7 +58,7 @@ TEST_F(SwathTestFixture, TestCenter)
 
   auto swaths = generator_->generateSwaths(rows_, settings);
 
-  ASSERT_EQ(swaths.size(), 6);
+  ASSERT_EQ(swaths.size(), 6u);
   EXPECT_EQ(swaths[0].getId(), 1);
   EXPECT_EQ(swaths[0].getPath().getX(0), 6.475);
   EXPECT_EQ(swaths[0].getPath().getY(0), 5.0);
@@ -73,7 +73,7 @@ TEST_F(SwathTestFixture, TestCenterWithSkipping)
   settings.skip_ids = {1, 10};
 
   auto swaths = generator_->generateSwaths(rows_, settings);
-  ASSERT_EQ(swaths.size(), 5);
+  ASSERT_EQ(swaths.size(), 5u);
   EXPECT_EQ(swaths[0].getId(), 2);
   EXPECT_NEAR(swaths[0].getPath().getX(0), 8.04, 1e-3);
   EXPECT_EQ(swaths[0].getPath().getY(0), 5.0);
@@ -90,7 +90,7 @@ TEST_F(SwathTestFixture, TestOffset)
 
   auto swaths = generator_->generateSwaths(rows_, settings);
 
-  ASSERT_EQ(swaths.size(), 5);
+  ASSERT_EQ(swaths.size(), 5u);
   EXPECT_EQ(swaths[0].getId(), 2);
   EXPECT_NEAR(swaths[0].getPath().getX(0), 13.699, 1e-3);
   EXPECT_EQ(swaths[0].getPath().getY(0), 5.0);
@@ -106,7 +106,7 @@ TEST_F(SwathTestFixture, TestRowsAreSwaths)
 
   auto swaths = generator_->generateSwaths(rows_, settings);
 
-  EXPECT_EQ(swaths.size(), 5);
+  EXPECT_EQ(swaths.size(), 5u);
 
   EXPECT_NEAR(swaths[0].getPath().getX(0), rows_[2].first.getX(0), 1e-3);
   EXPECT_NEAR(swaths[0].getPath().getY(0), rows_[2].first.getY(0), 1e-3);
diff --git a/opennav_row_coverage/test/test_utils.cpp b/opennav_row_coverage/test/test_utils.cpp
index 264df40..c478d05 100644
--- a/opennav_row_coverage/test/test_utils.cpp
+++ b/opennav_row_coverage/test/test_utils.cpp
@@ -37,7 +37,7 @@ TEST(UtilsTests, TestRowParserSimple)
     ament_index_cpp::get_package_share_directory("opennav_coverage") +
     "/cartesian_test_field.xml";
   auto rows = opennav_row_coverage::util::parseRows(file_path);
-  ASSERT_EQ(rows.size(), 7);
+  ASSERT_EQ(rows.size(), 7u);
 }
 
 TEST(UtilsTests, TestRowParserComplex)
@@ -47,7 +47,7 @@ TEST(UtilsTests, TestRowParserComplex)
     "/irregular_test_field.xml";
   auto rows = opennav_row_coverage::util::parseRows(file_path);
 
-  ASSERT_EQ(rows.size(), 10);
+  ASSERT_EQ(rows.size(), 10u);
 
   EXPECT_EQ(rows[2].first.getX(0), 4.26122335903712);
   EXPECT_EQ(rows[2].first.getY(0), 51.7859542010475);