Removing underlay workspace from Main

[mini-1235]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Closes #5644
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

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Description of contribution in a few bullet points

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
• Should this be backported to current distributions? If so, tag with backport-*.

[mini-1235]

Rolling sync has started https://discourse.openrobotics.org/t/preparing-for-rolling-sync-2025-12-01/51178, I open this PR to check everything is fine after the sync

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
see 1 file with indirect coverage changes

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[mini-1235]

Actually the sync is not finished yet, that's why I am marking as draft. I don't know why the system tests are passing

[mini-1235]

Actually the sync is not finished yet, that's why I am marking as draft. I don't know why the system tests are passing

Oh, I know why, the docker images is failing since September 30 https://github.com/ros-navigation/nav2_docker/actions/runs/19680004866/job/56371331768

Edit: I was wrong, I think it's because the CI image is only updated once the PR is merged, I can see errors in the nightly CI now

[mini-1235]

I looked deeper into the nav2_docker image:

• osrf/ros:rolling-desktop-full only installs qt5
• Rviz supports qt5/qt6, but prefers qt6 if available. Since only qt5 is installed, its exported dependencies target qt5
• nav2_minimal_turtlebot_simulation pulls in gz_sim, which brings in qt6

As a result, find_package(rviz_common) fails because qt6 is exported but qt5 is prioritized. I can think of two possible solutions to fix it:

• Add rviz to underlay workspace so it exports qt6, I tried this recently https://github.com/mini-1235/navigation2/commits/main/ and it works
• A hacky workaround: find qt5 before rviz_common. I am not sure yet if this would work

ps: this also explains why CI in this repo is working fine, but not nav2 docker

[SteveMacenski]

Got it - I did see that the rolling job was failing and I nudged the repo to get the builds starting again (github will deactivate github action jobs if the repo isn't active for 90 days; unfortunately that means repos like nav2_docker which are meant to be autonomous occasionally need a bogus commit to make it turn over again). I had it on my list for this week to figure out why that was happening since I kickstarted it again, but it looks like you beat me to it!

Why not update the docker image to install QT6 in the preamble so that its always present before anything starts to build / dependencies being pulled in?