Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• ROS2 Version:
  • ROS2 Humble - binaries
• Version or commit hash:
  • ros-humble-navigation2 1.1.6-1jammy.20230426.153445
• DDS implementation:
  • Fast-RTPS

Steps to reproduce issue

By default, collision monitor publishes to cmd_vel, but current nav2 stacks controller servers publish to cmd_vel_nav to allow the smoother node to work on the cmd before publishing it cmd_vel. So by using default params, and by working by the docs, we basically cancel out the smoother server.

Expected behavior

Adding collision monitor node should integrate seamlessly into the nav2 pipeline.

Actual behavior

Current collision monitor default params and docs will cause an integration which circumvents the smoother server.

Additional information

Working on a PR