Up to date with main by SakshayMahna · Pull Request #7 · SakshayMahna/navigation2

SakshayMahna · 2025-10-09T12:10:12Z

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)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

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

* Added BT ID finder and used createTree to resolve btcpp warning Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Support using either bt file path or bt id Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Not necessarily a file name Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fix logic Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fix function definition Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed unit test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed BB variable Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed error msg Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed variable and its getter naming Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed definition Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fix xml check Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fix bt unit test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * added back test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * check bt id using the root or bt id Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * using tinyxml2 instead of regex Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed var name Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed var name Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * check if arg is already a BT ID Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * check if arg is already a BT ID Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Test was failing due to same BT ID MainTree among all registred trees Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Fixed error msg to be compliant Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * python linting Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Removed unused createTreeFromFile since its replaced with createTree Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * PR fixes Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Added new line at the end of BT xml Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Should cover most of the cases Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * format Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Fixed BT format Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Removed redundant check Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Allow usage of file paths with a warning, while keeping BT ID usage as the recommended option Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Additional test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Test coverage Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> --------- Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

Signed-off-by: bkoensgen <b.koensgen@gmail.com>

…p, ArePosesNear to nav2_tree_nodes.xml (#5534) Signed-off-by: Jonas Otto <jonas.otto@ipa.fraunhofer.de>

* Added std_srvs package to dependencies Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Declared service and callback for enabling/disabling collision monitor Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Declared a variable to store collision monitor enable/disable state Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added initialization for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Implemented service callback for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Removed std_srvs package dependency Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added Toggle interface Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Replaced Trigger interface with the new Toggle interface Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added default initialization for enabled flag Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Fixed toggle service name Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Updated toggle logic for collision monitor Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added a new line at the end of file Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added enabled check for logging Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added a unit test for toggle service Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Made the getter const and added a comment Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Replaced rclcpp::spin_some Signed-off-by: Abhishekh Reddy <helloarm@pm.me> --------- Signed-off-by: Abhishekh Reddy <helloarm@pm.me> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Refactor common functions in planner and smoother Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add unit tests for smoother utils Signed-off-by: Maurice <mauricepurnawan@gmail.com> * Update cmakelist and linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update nav2_util/include/nav2_util/smoother_utils.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update nav2_util/include/nav2_util/smoother_utils.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update unit tests Signed-off-by: Maurice <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* add Bt pluging for toggle collision monitor service Signed-off-by: David G <david.randommail1@gmail.com> * Add test for btt plugin Signed-off-by: David G <david.randommail1@gmail.com> * Clean up test Signed-off-by: David G <david.randommail1@gmail.com> * Fix copyright in header Signed-off-by: David G <david.randommail1@gmail.com> * uncrustify Signed-off-by: David G <david.randommail1@gmail.com> * fix lint Signed-off-by: David G <david.randommail1@gmail.com> * fix circle ci Signed-off-by: David G <david.randommail1@gmail.com> --------- Signed-off-by: David G <david.randommail1@gmail.com> Signed-off-by: DavidG-Develop <147402604+DavidG-Develop@users.noreply.github.com>

#5554) * Added a new parameter to set initial enabled state for the collision monitor Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Fixed enabled_at_start parameter default value Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Updated toggle service unit test for code coverage Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Updated enabled state log message on startup Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Updated enabled state log message on startup Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Renamed parameter to 'enabled' Signed-off-by: Abhishekh Reddy <helloarm@pm.me> --------- Signed-off-by: Abhishekh Reddy <helloarm@pm.me> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Add isPoseOccupied BT node Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Remove cout Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Add toggle cm to simple comander API, fix default toggle cm service in test for consistency Signed-off-by: David G <david.randommail1@gmail.com> * Fix pre commit, ament flake, add readme Signed-off-by: David G <david.randommail1@gmail.com> * add toggle msg to __init__.py Signed-off-by: David G <david.randommail1@gmail.com> * add error handling Signed-off-by: David G <david.randommail1@gmail.com> * add error handling for clear costmap functions Signed-off-by: David G <david.randommail1@gmail.com> --------- Signed-off-by: David G <david.randommail1@gmail.com>

Publish a zero velocity command after reaching the dock position to ensure that the robot is stopped while waiting for the charge to start. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be>

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

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

* Fix optimal plan frame id Signed-off-by: Ege Ugur Agus <48795506+eegeugur@users.noreply.github.com> * Remove Whitespaces. Signed-off-by: Ege Ugur Agus <48795506+eegeugur@users.noreply.github.com> * Fix linting error Signed-off-by: Ege Ugur Agus <48795506+eegeugur@users.noreply.github.com> --------- Signed-off-by: Ege Ugur Agus <48795506+eegeugur@users.noreply.github.com>

* Add support for qt6 Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Modify CMakeList to support Jazzy Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Precommit Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Use the new declare_or_get_parameter API for nav2_behavior_tree Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Simplified the parameter implemenation for error_code_name_prefixes. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

* Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

…ut (#5578) Until now, a path computation timeout would systematically lead to a nav2_core::PlannerTimedOut error, even though a path was found within the tolerance. This commit makes the A* return the best path found if it's within the tolerance. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be>

* Fail if getInput fails Signed-off-by: redvinaa <redvinaa@gmail.com> * Add test with no input Signed-off-by: redvinaa <redvinaa@gmail.com> * Update error string Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> * Fix quotation marks Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

…ontroller (#5530) * Fix graceful controller lookahead bug Signed-off-by: Sakshay Mahna <sakshum19@gmail.com> * Shorten logic with goal_pose Signed-off-by: Sakshay Mahna <sakshum19@gmail.com> * Add Linear Interpolation Fix Signed-off-by: Sakshay Mahna <sakshum19@gmail.com> * Update const double and comments Signed-off-by: Sakshay Mahna <sakshum19@gmail.com> --------- Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

Jad-ELHAJJ and others added 21 commits September 17, 2025 10:55

tests(opennav_docking): restore executor-based spinning (#5533)

8647708

Signed-off-by: bkoensgen <b.koensgen@gmail.com>

add bt nodes GetCurrentPose, ConcatenatePaths, WouldARouteRecoveryHel…

547820f

…p, ArePosesNear to nav2_tree_nodes.xml (#5534) Signed-off-by: Jonas Otto <jonas.otto@ipa.fraunhofer.de>

Add isPoseOccupied BT node (#5556)

645d09a

* Add isPoseOccupied BT node Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Remove cout Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

doc update (#5564)

2e7105f

Migrate TransformBroadcaster usage to use shared ptr. (#5569)

9ed832e

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Fix CI regression (#5571)

efdfb7d

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

Use the new declare_or_get_parameter API for nav2_behaviors. (#5583)

f78bac5

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

SakshayMahna merged commit 563b7a4 into SakshayMahna:main Oct 9, 2025
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Up to date with main#7

Up to date with main#7
SakshayMahna merged 21 commits intoSakshayMahna:mainfrom
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SakshayMahna commented Oct 9, 2025

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SakshayMahna commented Oct 9, 2025

Basic Info

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:

Uh oh!

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Reviewers

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Labels

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13 participants