Merge latest changes by SakshayMahna · Pull Request #1 · SakshayMahna/navigation2

SakshayMahna · 2025-07-06T11:05:21Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
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)

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

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

Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* updating readme table for kilted release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating table lint Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* min_distance_to_obstacle Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestion to time base and combine Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * typo Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * use min_approach_linear_velocity Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

…ilted, and Rolling support (#5251) * Update amcl_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Working for Kilted, Jazzy Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* added edge length method Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Added corner arc class Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * replaced double vectors with Coordinates, added methods to return start and end coordinates Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * using Coordinates, fixed direction of tangents Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added corner arc in header, added logger in protected variable Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * first pass of corner smoothing algorithm Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * reassigning next edge to have a different start, if a corner occurs before it Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * using unique pointer instead of raw pointers for new edges and nodes Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added smoothing parameter Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * made angle of interpolation a parameter Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * const for return methods, added flag for smoothing corners Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * moved getEdgeLength() into the Directional Edge struct Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * using float instead of double Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * smoothing radius is float, couple methods moved to protected Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed signed_angle_ as a member variable Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed unnecessary member variables Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed angle of interpolation and inferring it from path density and radius instead Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * consolidated corner arc into one header function Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * readded newline Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed corner arc to corner smoothing Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * replaced the use of edges with coordinates to generate smoothing arc, removed storage of nodes and edges Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * fixing cpplint Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting for headers Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * cpplinting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixed divide by zeros and accessing empty route.edges Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * uncrustify linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * cpp linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * path converter linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed all doubles to floats Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added check for edges that are colinear to avoid divide by 0, fixed final edge interpolation Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * added doxygen for corner arc class Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added warning message if corner can't be smoothed Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added smooth_corners to the nav2 params file Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added smoothing flag and radius parameter to README.md' Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * typo in README Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added testing for corner smoothing Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Conserve curvature with LIMIT action Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix format Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>

Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com>

* cherry pick Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * cherry pick 6a74ba6 Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * cherrpy pick Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * include x11 forwarding Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * kind of working version Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * cleanup Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * formatting Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * minor format change Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * change naming Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * minor changes Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * working with new changes Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Revert "Fix Ci from key signing (#5220)" (#5237) * Revert "Fix Ci from key signing (#5220)" This reverts the changes to the Dockerfile done in 1345c22. Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> * Update Cache Version Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Revert back Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * enable_groot_monitoring_ false (#5246) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Updating readme table for kilted release (#5249) * updating readme table for kilted release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating table lint Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Add min_distance_to_obstacle parameter to RPP (#4543) * min_distance_to_obstacle Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestion to time base and combine Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * typo Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * use min_approach_linear_velocity Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Fixing builds for message filters API change while retaining Jazzy, Kilted, and Rolling support (#5251) * Update amcl_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Working for Kilted, Jazzy Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * Change max_cost default to 254 (#5256) Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * linter Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * remove const Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * pass const pointer by value Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * pass const pointer by value Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * remove unused param Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> --------- Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Configured nav2_loopback_sim to be compliant with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Configured nav2_simple_commander to be compliant with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Configured nav2_system_tests to be compliant with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Signed-off-by: haider8645 <haider_lodhi@hotmail.com>

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

) Signed-off-by: Silvio Traversaro <silvio@traversaro.it>

Signed-off-by: Silvio Traversaro <silvio@traversaro.it>

Signed-off-by: Silvio <silvio.traversaro@iit.it>

* initial unorganized prototype Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * break out files and add doxygen Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding refactor for nav2_ros_common and new ROS interface factories Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing CI - not sure how that got through merge conflicts Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Lifecycle publisher a missing test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * system tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * default Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * activating publishers Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * temp disable allow param qos overrides Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * API update for new constructor option Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Supporting Jazzy and abstracting util Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Review round 1 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding Nav2 Publisher and Subscriber objects to later build upon Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding additional ::SharedPtr for readability Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix bug Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing Jazzy support Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * missed one last spot Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding migration instructions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * more context Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding migration context Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * precommit Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding missing dep Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating system tess Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * more Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

…f new nav2_ros_common package. Also adding QoS overrides default ON (#5302) * Adding logging for matched events and dropped messages Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * toggle on Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * apply for smac 2D Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update interface_factories.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Add LaunchConfigAsBool (Fixes #5233) Signed-off-by: nishalangovender <nishalan.govender@gmail.com> * Fix Linting Signed-off-by: nishalangovender <nishalan.govender@gmail.com> * Fix ament_mypy and pre-commit Signed-off-by: nishalangovender <nishalan.govender@gmail.com> * Added Type Annotations Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * mypy ignore Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * launch.Substitution Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * Update All Bools in nav2_bringup Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> --------- Signed-off-by: nishalangovender <nishalan.govender@gmail.com> Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com>

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Adding clear costmap around pose impl Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_msgs/srv/ClearCostmapAroundPose.srv Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding APIs for simple commander Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding import Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

…5307) Expose the enable_communication_interface parameter from rclcpp_lifecycle::LifecycleNode through nav2's LifecycleNode wrapper. This allows users to disable lifecycle communication interfaces when manually managing node lifecycle transitions. The parameter can be set via NodeOptions parameter overrides: ```cpp rclcpp::NodeOptions options; options.parameter_overrides({{"enable_lifecycle_services", false}}); ``` Fixes #5305 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

Signed-off-by: Maurice <mauricepurnawan@gmail.com>

…ry_help_condition (#5326) The ThroughActionResult type alias was incorrectly referencing Action::Result instead of ThroughAction::Result, causing the condition to not work properly for ComputePathThroughPoses actions. Fixes #5324 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* outputting tracker feedback on BT node Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * initializing outputs Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * outputting last state on success Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * fixed nav2_tree_nodes.xml Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Update nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com> * consolidated function to set outputs null, only setOutput with active feedback Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * add class to method Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> --------- Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> Signed-off-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* added nonblocking sequence Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * adding non blocking sequence test Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * adding non blocking sequence test to CMake Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added doxygen Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * remove node_ Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * main port Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added NonblockingSequence to nav2_tree_nodes.xml Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * cpp linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * cpplinting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * clarifed nonblocking sequence functionality in doxygen Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * Update nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/nonblocking_sequence.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Update lifecycle_node.hpp :: createBond() -> bond_ type fix Signed-off-by: Dhruv Patel <dhruvpatel2991998@gmail.com> * Update lifecycle_node.hpp Signed-off-by: Dhruv Patel <dhruvpatel2991998@gmail.com> * Update lifecycle_node.hpp: removing extra spaces Signed-off-by: Dhruv Patel <dhruvpatel2991998@gmail.com> --------- Signed-off-by: Dhruv Patel <dhruvpatel2991998@gmail.com>

* Add 6dof support for velocity smoother Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix formatting and logic error Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Check size first Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add tests for param size Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert param changes Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add more tests Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix as suggested Signed-off-by: Maurice <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com>

* Adding initial prototype for a MPPI trajectory validator Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Adding in control sequence and renaming optimal trajectory Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix broken tests Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Adding trajectory validation collision checks Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Last stylistic change Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Update optimal_trajectory_validator.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: Sushant Chavan <gitecsvc@gmail.com>

…d nodes (#5357) * fix: add missing keepout and speed zone substitutions for non-composed nodes Non-composed nodes were missing the yaml substitutions for keepout and speed zones that are present in the component container launch. This was causing parameter type errors when the substitution values weren't being replaced. Added: - use_keepout_zones and use_speed_zones launch arguments - yaml_substitutions dictionary with KEEPOUT_ZONE_ENABLED and SPEED_ZONE_ENABLED - value_rewrites parameter to RewrittenYaml to apply the substitutions Fixes #5356 Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com> * Update bringup_launch.py Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Adding slow down at target heading to RPP Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Update test_regulated_pp.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

…5363) Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Fix target_link_libraries dependency on nav2_ros_common Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Update/Fix CMakeLists for last rolling changes Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg::Pose Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg::Pose Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Change geometry_msgs::msg::Pose2D (deprecated) to geometry_msgs::msg::Pose Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Use nav2_util for creating quaternions Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Use standard messages Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Minor changes from review Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> * Changes from review Signed-off-by: Francisco Martín Rico <fmrico@gmail.com> --------- Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

#5300) * fix: Add PushRosNamespace action to navigation launch file and update comments for parameter namespacing Signed-off-by: orebai <omar.rebai@habemus.com> * fix: Reorder import statements in navigation launch file for consistency Signed-off-by: orebai <omar.rebai@habemus.com> * fix: Correct formatting of comments in navigation launch file for clarity Signed-off-by: orebai <omar.rebai@habemus.com> * fix: Add PushRosNamespace action to multiple launch files for parameter namespacing Signed-off-by: orebai <omar.rebai@habemus.com> * fix: Add PushRosNamespace action to slam_launch.py for parameter namespacing Signed-off-by: orebai <omar.rebai@habemus.com> * Adding logging for matched events and dropped messages into pub/sub of new nav2_ros_common package. Also adding QoS overrides default ON (#5302) * Adding logging for matched events and dropped messages Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * toggle on Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * apply for smac 2D Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update interface_factories.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: orebai <omar.rebai@habemus.com> * Add LaunchConfigAsBool (Fixes #5233) (#5301) * Add LaunchConfigAsBool (Fixes #5233) Signed-off-by: nishalangovender <nishalan.govender@gmail.com> * Fix Linting Signed-off-by: nishalangovender <nishalan.govender@gmail.com> * Fix ament_mypy and pre-commit Signed-off-by: nishalangovender <nishalan.govender@gmail.com> * Added Type Annotations Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * mypy ignore Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * launch.Substitution Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> * Update All Bools in nav2_bringup Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> --------- Signed-off-by: nishalangovender <nishalan.govender@gmail.com> Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> Signed-off-by: orebai <omar.rebai@habemus.com> * Create claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: orebai <omar.rebai@habemus.com> * Update claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: orebai <omar.rebai@habemus.com> * Update claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: orebai <omar.rebai@habemus.com> * Update claude.yml for authorized users Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: orebai <omar.rebai@habemus.com> * Update claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: orebai <omar.rebai@habemus.com> * Update claude.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: orebai <omar.rebai@habemus.com> * Adding clear costmap around pose service option (#5309) * Adding clear costmap around pose impl Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_msgs/srv/ClearCostmapAroundPose.srv Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding APIs for simple commander Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding import Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: orebai <omar.rebai@habemus.com> * Add support for enable_lifecycle_services parameter in LifecycleNode (#5307) Expose the enable_communication_interface parameter from rclcpp_lifecycle::LifecycleNode through nav2's LifecycleNode wrapper. This allows users to disable lifecycle communication interfaces when manually managing node lifecycle transitions. The parameter can be set via NodeOptions parameter overrides: ```cpp rclcpp::NodeOptions options; options.parameter_overrides({{"enable_lifecycle_services", false}}); ``` Fixes #5305 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Signed-off-by: orebai <omar.rebai@habemus.com> * fix: Rename PushRosNamespace to PushROSNamespace for consistency across launch files Signed-off-by: orebai <omar.rebai@habemus.com> --------- Signed-off-by: orebai <omar.rebai@habemus.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: nishalangovender <nishalan.govender@gmail.com> Signed-off-by: Nishalan Govender <nishalan.govender@gmail.com> Co-authored-by: orebai <omar.rebai@habemus.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Nishalan Govender <137301877+nishalangovender@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

* [DEX] make CM pointcloud min_height and max_height Signed-off-by: nelson <kaichie.lee@gmail.com> * [DEX] fix CM dynamicParametersCallback override Signed-off-by: nelson <kaichie.lee@gmail.com> * adapt param validating style Signed-off-by: nelson <kaichie.lee@gmail.com> --------- Signed-off-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

doisyg and others added 30 commits June 9, 2025 11:27

enable_groot_monitoring_ false (#5246)

3514852

Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

Change max_cost default to 254 (#5256)

279e17e

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Parametrizing obstacle layer tf filter tolerance (#5261)

2a80675

Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>

Add namespace support for rviz costmap cost tool (#5268)

33e78d7

Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com>

Fix backport compiler warning (#5277)

76a398f

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Publish zero velocitiy in case of goal failure (#5279)

22d8d91

Signed-off-by: haider8645 <haider_lodhi@hotmail.com>

Update PULL_REQUEST_TEMPLATE.md

3c99538

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Use fixed thresholds for Trinary yaml (#5278)

829e683

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

Add missing include of algorithm in differential_motion_model.cpp (#5293

c6adba8

) Signed-off-by: Silvio Traversaro <silvio@traversaro.it>

Remove unused unistd.h header from route_tool.cpp (#5292)

a782e7a

Signed-off-by: Silvio Traversaro <silvio@traversaro.it>

Fix compilation of nav2_smac_planner on Windows (#5291)

16d6e63

Signed-off-by: Silvio <silvio.traversaro@iit.it>

Create claude.yml

c0ec436

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Update claude.yml

184ce24

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Update claude.yml

ce87527

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Update claude.yml for authorized users

b6fedc6

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Update claude.yml

cbbe3b9

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Update claude.yml

fa63e30

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Rename service_introspection_mode to introspection_mode (#5321)

f6c5cc6

Signed-off-by: Maurice <mauricepurnawan@gmail.com>

SteveMacenski and others added 2 commits July 2, 2025 12:52

Add bondcpp to export dependencies (#5332)

12ceabe

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

SakshayMahna closed this Jul 6, 2025

SakshayMahna reopened this Jul 6, 2025

alexanderjyuen and others added 19 commits July 7, 2025 15:41

Fix Typo (#5344)

5021b51

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Update PULL_REQUEST_TEMPLATE.md

6c04b6d

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

target link nav2_ros_common::nav2_ros_common (#5352)

2c2eabf

Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

Update qos_profiles.hpp

0d60804

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Support stamped footprints in costmap_2d (#5345)

2a8619f

Signed-off-by: Sushant Chavan <gitecsvc@gmail.com>

Adding BO's new logo (#5360)

70f4574

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

Include <stdexcept> in docking_exceptions.hpp for exception handling (#…

779b095

…5363) Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

Eexception rethrow in dockRobot method (#5364)

ee2d778

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

Reverting graph file formatting changes from 5343 (#5367)

daee7aa

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

SakshayMahna closed this Jul 19, 2025

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SakshayMahna commented Jul 6, 2025

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