Adding parameter util to node utils by MarcoMatteoBassa · Pull Request #5154 · ros-navigation/navigation2

MarcoMatteoBassa · 2025-05-13T16:12:12Z

Basic Info

Info	Please fill out this column
Primary OS tested on	Ubuntu
Robotic platform tested on	Independent
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

The added utility tackles 2 issues:

Reduces the amount of boilerplate code required to declare and get parameters, and consequently makes it less likely to introduce typos: it combines declare_parameter_if_not_declared and get_parameter in a single instruction.

Example:

nav2_util::declare_parameter_if_not_declared(
    node,
    "max_rotational_vel", rclcpp::ParameterValue(1.0));
  node->get_parameter("max_rotational_vel", max_rotational_vel_);

Can be rewritten as

max_rotational_vel_ = nav2_util::declare_or_get_param(node, "max_rotational_vel", 1.0);

Helps tracking typos / mismatching namespaces in the parameters overrides: if a parameter is not found in the overrides, resulting in the default value being used, the utility can optionally print a WARN message. This can often help the developers catch configuration mistakes, and is particularly useful when relying on the default value likely results in degraded performance.

The utility can be used either through a generic node pointer, or (useful when using derived nodes) using the internal node interfaces.

Description of how this change was tested

Added a unit test.
As I didn't add the utilty to any node yet, it won't affect any existing behavior.

Future work that may be required in bullet points

The utility can be used for refactoring purposes or for the development of new modules.

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

codecov · 2025-05-13T20:08:51Z

Codecov Report

Attention: Patch coverage is 96.00000% with 1 line in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_util/include/nav2_util/node_utils.hpp	96.00%	1 Missing ⚠️

Files with missing lines	Coverage Δ
nav2_util/include/nav2_util/node_utils.hpp	`91.66% <96.00%> (+5.00%)`	⬆️

... and 3 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

SteveMacenski

As a potential suggestion, this is declare_parameter_if_not_declared

template<typename NodeT>
void declare_parameter_if_not_declared(
  NodeT node,
  const std::string & param_name,
  const rclcpp::ParameterValue & param_value,
  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
  rcl_interfaces::msg::ParameterDescriptor())
{
  if (!node->has_parameter(param_name)) {
    node->declare_parameter(param_name, param_type, parameter_descriptor);
  }
}

The declare_parameter bit can/will return a ParameterValue that we can work with if its not been declared, and otherwise we can add a get_parameter as an else condition to return the value.

We could actually just adapt the declare_parameter_if_not_declared to have a return type instead and use that as a single-call. Possibly even rename at that point to declare_or_get_parameter and use that globally, except the one situation below which is only in a handful of places.

Note: We also have a version for parameter types rather than values for the case in which we want to declare a parameter without a default value but only declare its type. We'd have to keep that in place with the current workflow of declare & get I think.

What do you think?

MarcoMatteoBassa · 2025-05-14T08:18:11Z

Hi, yes the util is basically doing that, but in addition it also removes the need to explicitally transform the parameters with rclcpp::ParameterValue() when calling it by using the type template.
The WARN part is also quite handy, but if you feel that would be too spammy, we could default it to false.

I didn't want to modify declare_parameter_if_not_declared to avoid intrusion in the code base and possibly generate unused-return-value warnings, but using an unified strategy later would for sure be beneficial :)

Yes, the Type-Only version of declare_parameter_if_not_declared should stay there. As in this case the parameter might not have a value, I would leave it as void; alternatively we could add a version of declare_or_get returning an optional rclcpp::ParameterValue if an rclcpp::ParameterType is used.

Let me know what you prefer :)

nav2_util/include/nav2_util/node_utils.hpp

SteveMacenski · 2025-05-15T00:08:13Z

I suppose I'm less tied to a particular implementation and more interested in just removing redundancy as much as possible. Maybe we don't need to do everything at once :-) It would be nice as you say to have a version that doesn't produce a unused return value warning --

Yes, the Type-Only version of declare_parameter_if_not_declared should stay there. As in this case the parameter might not have a value, I would leave it as void; alternatively we could add a version of declare_or_get returning an optional rclcpp::ParameterValue if an rclcpp::ParameterType is used.

We could add in the version but allow get_parameter throw in the case it was not declared (as it does). As long as the doxygen mentions this behavior, I think that's OK. So it would return a value if one is given, else throws. That should be a known behavior in that case and I believe all uses in Nav2 wraps those calls in try/catch anyway to capture it and allow for a 1:1 replacement.

The WARN part is also quite handy, but if you feel that would be too spammy, we could default it to false.

I do like default false personally. I'm curious to know why its a warning to use a default value - is your expectation that all nodes are full configured in YAML files? I suppose that is good practice, but would spam the terminal quite alot for existing users that are less disciplined (including nav2_bringup currently 🥲 )

MarcoMatteoBassa · 2025-05-15T10:46:21Z

We could add in the version but allow get_parameter throw in the case it was not declared (as it does). As long as the doxygen mentions this behavior, I think that's OK. So it would return a value if one is given, else throws. That should be a known behavior in that case and I believe all uses in Nav2 wraps those calls in try/catch anyway to capture it and allow for a 1:1 replacement.

I added a version that handles the declaration by type, it will return a parameter_not_set type if the param is not there. The exception will eventually come when trying to cast if that is done without checking the type.

I do like default false personally. I'm curious to know why its a warning to use a default value - is your expectation that all nodes are full configured in YAML files? I suppose that is good practice, but would spam the terminal quite alot for existing users that are less disciplined (including nav2_bringup currently 🥲 )

Yes, having the warning combined with fully configured YAML files has a lot of advantages:

You always know if the param defined in the yaml takes effect -> It's easy to spot typos in the parameter names or when these are defined in the wrong namespace
Makes it easier to maintain compatibility between the configuration files and the source code (which is particularly challenging when maintaining multiple robots/environments that require the yamls to be defined in separate packages)
Makes it easier for the user to understand what can be configured in the node without having to call param_list at runtime -> the YAML files can become part of the documentation

But I don't want to enforce this on everyone, so I defaulted to false now :)

SteveMacenski · 2025-05-15T23:39:16Z

Honestly I totally agree. If I was building applications I would be fully describing my configuration files. However, I don't want to overwhelm people reading the config file for the first few times (its already alot) so that's why nav2_bringup isn't as complete

SteveMacenski

LGTM, ready to merge on your front?

SteveMacenski

Just to trigger that warning message to complete coverage metrics

nav2_util/test/test_node_utils.cpp

SteveMacenski · 2025-05-16T00:31:56Z

Mhm, there are some tests that are failing, can you rebase? We did make some changes in the default bringup recently related to the failing tests and I'm wondering if there's a caching issue.

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

…able names, disabling param warnings by default Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>

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

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

mergify · 2025-05-16T15:39:05Z

@MarcoMatteoBassa, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

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

MarcoMatteoBassa · 2025-05-16T15:53:08Z

I realized that subsequent calls of declare_or_get by type would result in an exception instead of an uninitialized parameter, so I changed it to consistently return an uninitialized parameter.

PS, a possible way to allow the user to globally choose for a node if he wants warnings for missing overrides, could be to enable it through an optional dedicated boolean parameter, ex by changing it to:

template<typename ParamType, typename NodeT>
ParamType declare_or_get_parameter(
  NodeT node, const std::string & parameter_name,
  const ParamType & default_value, const ParameterDescriptor & parameter_descriptor = ParameterDescriptor())
{
  const auto ParamBool = rclcpp::ParameterType::PARAMETER_BOOL;
  auto warn_value = declare_or_get_parameter(node, "warn_missing_parameter_overrides", ParamBool);
  const bool warn = warn_value.get_type() == ParamBool && warn_value.template get<bool>();
  return declare_or_get_parameter(node->get_logger(), node->get_node_parameters_interface(),
      parameter_name, default_value, warn, parameter_descriptor);
}

In this way there wouldn't be a need to hard-code a choice in the function call, and by default there would be no warning.

nav2_util/include/nav2_util/node_utils.hpp

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

SteveMacenski

Love it, anything else or can I merge?

Sorry for the back and forth, I think this is better though because of it!

MarcoMatteoBassa · 2025-05-20T15:49:28Z

All good from my side :) Maybe I'll do a follow-up proposal for enabling the warning through a parameter, but that might not be very "elegant".

* Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing codecove test Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Dynamic param patterns (#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * change cache version Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * xml update Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * rename to use_start Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * descriptions Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * simplify logic Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * raw pointer Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestions from review Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Merged Fix navfn_planner from humble PR #5087 (#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge * Update map_io library to use Eigen method for faster map loading (#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit config changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update include header include order Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Add comments for the code understanding Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Fix else braces rule issue Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Take flip part out of if-else Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> --------- Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Precompute yaw trigonometric values in smac planner (#5109) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * removing the start navigation message in the paused state from rviz buttons (#5137) Signed-off-by: Pradheep <padhupradheep@gmail.com> * Show error if inflation radius is smaller than circumscribed radius (#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Prevent MPPI controller from resetting speed limits upon goal execution. (#5165) Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Fixing docking server when already docked at the requeste ddock (#5171) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter util to node utils (#5154) * Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing codecove test Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * added config for laserscan in lb-sim (#5174) * added config for laserscan in lb-sim Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * fixing ament_flake8 errors Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * review: use_inf is default:true and added parameters on readme #4992 Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * refactor: meaningfull value for scan_angle_increment Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> --------- Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com> * Publish planned footprints after smoothing (#5155) * Publish planned footprints after smoothing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "Publish planned footprints after smoothing" This reverts commit c9b349a. * Add smoothed footprints publishing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address PR comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix build error Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixing deprecation warning (#5182) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding missing dep to loopback sim (#5204) * Adding missing dep Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * typo Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updating fix Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter warn_when_defaulting_parameters to control default parameter warnings (#5189) * Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Using default false declaration instead of declare_or_get in param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * bumping to 1.3.7 for release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Vignesh T <vignesh.t@kabam.ai> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: RamanaBotta <ramanab@bosonmotors.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: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Vignesh T <vignesh.t@kabam.ai> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: Marco Bassa <101661130+MarcoMatteoBassa@users.noreply.github.com> Co-authored-by: Raman <52356167+RamanRobotics@users.noreply.github.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com>

* Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing codecove test Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

* Dynamic param patterns (ros-navigation#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * change cache version Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (ros-navigation#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * xml update Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * rename to use_start Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * descriptions Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * simplify logic Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (ros-navigation#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * raw pointer Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestions from review Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Merged Fix navfn_planner from humble PR ros-navigation#5087 (ros-navigation#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge * Update map_io library to use Eigen method for faster map loading (ros-navigation#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit config changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update include header include order Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Add comments for the code understanding Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Fix else braces rule issue Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Take flip part out of if-else Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> --------- Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Precompute yaw trigonometric values in smac planner (ros-navigation#5109) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * removing the start navigation message in the paused state from rviz buttons (ros-navigation#5137) Signed-off-by: Pradheep <padhupradheep@gmail.com> * Show error if inflation radius is smaller than circumscribed radius (ros-navigation#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Prevent MPPI controller from resetting speed limits upon goal execution. (ros-navigation#5165) Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Fixing docking server when already docked at the requeste ddock (ros-navigation#5171) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter util to node utils (ros-navigation#5154) * Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing codecove test Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * added config for laserscan in lb-sim (ros-navigation#5174) * added config for laserscan in lb-sim Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * fixing ament_flake8 errors Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * review: use_inf is default:true and added parameters on readme ros-navigation#4992 Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * refactor: meaningfull value for scan_angle_increment Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> --------- Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com> * Publish planned footprints after smoothing (ros-navigation#5155) * Publish planned footprints after smoothing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "Publish planned footprints after smoothing" This reverts commit c9b349a. * Add smoothed footprints publishing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address PR comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix build error Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixing deprecation warning (ros-navigation#5182) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding missing dep to loopback sim (ros-navigation#5204) * Adding missing dep Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * typo Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updating fix Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter warn_when_defaulting_parameters to control default parameter warnings (ros-navigation#5189) * Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Using default false declaration instead of declare_or_get in param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * bumping to 1.3.7 for release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Vignesh T <vignesh.t@kabam.ai> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: RamanaBotta <ramanab@bosonmotors.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: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Vignesh T <vignesh.t@kabam.ai> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: Marco Bassa <101661130+MarcoMatteoBassa@users.noreply.github.com> Co-authored-by: Raman <52356167+RamanRobotics@users.noreply.github.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com>

* Jazzy Sync 7: May 29 2025 (ros-navigation#5211) * Dynamic param patterns (ros-navigation#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * change cache version Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (ros-navigation#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * xml update Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * rename to use_start Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * descriptions Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * simplify logic Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (ros-navigation#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * raw pointer Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestions from review Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Merged Fix navfn_planner from humble PR ros-navigation#5087 (ros-navigation#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge * Update map_io library to use Eigen method for faster map loading (ros-navigation#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit config changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update include header include order Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Add comments for the code understanding Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Fix else braces rule issue Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Take flip part out of if-else Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> --------- Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Precompute yaw trigonometric values in smac planner (ros-navigation#5109) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * removing the start navigation message in the paused state from rviz buttons (ros-navigation#5137) Signed-off-by: Pradheep <padhupradheep@gmail.com> * Show error if inflation radius is smaller than circumscribed radius (ros-navigation#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Prevent MPPI controller from resetting speed limits upon goal execution. (ros-navigation#5165) Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Fixing docking server when already docked at the requeste ddock (ros-navigation#5171) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter util to node utils (ros-navigation#5154) * Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing codecove test Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * added config for laserscan in lb-sim (ros-navigation#5174) * added config for laserscan in lb-sim Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * fixing ament_flake8 errors Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * review: use_inf is default:true and added parameters on readme ros-navigation#4992 Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * refactor: meaningfull value for scan_angle_increment Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> --------- Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com> * Publish planned footprints after smoothing (ros-navigation#5155) * Publish planned footprints after smoothing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "Publish planned footprints after smoothing" This reverts commit c9b349a. * Add smoothed footprints publishing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address PR comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix build error Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixing deprecation warning (ros-navigation#5182) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding missing dep to loopback sim (ros-navigation#5204) * Adding missing dep Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * typo Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updating fix Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter warn_when_defaulting_parameters to control default parameter warnings (ros-navigation#5189) * Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Using default false declaration instead of declare_or_get in param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * bumping to 1.3.7 for release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Vignesh T <vignesh.t@kabam.ai> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: RamanaBotta <ramanab@bosonmotors.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: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Vignesh T <vignesh.t@kabam.ai> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: Marco Bassa <101661130+MarcoMatteoBassa@users.noreply.github.com> Co-authored-by: Raman <52356167+RamanRobotics@users.noreply.github.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com> * Fixing Jazzy CI via new ROS 2 keys Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Revert "Fix Ci from key signing (ros-navigation#5220)" (backport ros-navigation#5237) (ros-navigation#5239) * Revert "Fix Ci from key signing (ros-navigation#5220)" (ros-navigation#5237) * Revert "Fix Ci from key signing (ros-navigation#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> (cherry picked from commit 7f561b0) # Conflicts: # .circleci/config.yml * Update config.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Backport bidirectional settings ros-navigation#4954 (ros-navigation#5260) Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> * Add namespace support for rviz costmap cost tool (ros-navigation#5271) Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> * Use fixed thresholds for Trinary yaml (ros-navigation#5278) (ros-navigation#5286) (cherry picked from commit 829e683) Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> * Clear costmap around pose jazzy (backport ros-navigation#5309) (ros-navigation#5318) * Adding clear costmap around pose service option (ros-navigation#5309) (cherry picked from commit c0bf67e Signed-off-by: dw25628 <dwoodwell@vermeer.com> * Linting Signed-off-by: dw25628 <dwoodwell@vermeer.com> * Removed __init__.py that came in with cherry pick Signed-off-by: dw25628 <dwoodwell@vermeer.com> --------- Signed-off-by: dw25628 <dwoodwell@vermeer.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Backport "Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In" (ros-navigation#5378) * Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In (ros-navigation#5187) * Adding toggle option of keepout zone Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Default off Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Join conditions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * spell check Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * copilot suggestions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update keepout_filter.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Revert bringup params changes Signed-off-by: Maurice <mauricepurnawan@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Adding minimum range to PC2 in collision monitor (backport ros-navigation#5392) (ros-navigation#5393) * Adding minimum range to PC2 in collision monitor (ros-navigation#5392) Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> (cherry picked from commit 40a0451) # Conflicts: # nav2_collision_monitor/src/pointcloud.cpp * Update pointcloud.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update pointcloud.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update sources_test.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Construct TF listeners passing nodes, spinning on separate thread (backport ros-navigation#5406) (ros-navigation#5431) * Construct TF listeners passing nodes, spinning on separate thread (ros-navigation#5406) * Construct TF listeners passing nodes, spinning on separate thread Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> * (tentative) pin down of the impacting change Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> --------- Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> (cherry picked from commit 1468484) # Conflicts: # nav2_route/src/route_server.cpp * Delete nav2_route/src/route_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix lifecycle manager deadlock during shutdown (ros-navigation#5448) Signed-off-by: Jacob Visser <jacob.visser@cboost.nl> * fix 5456 (ros-navigation#5458) Signed-off-by: David G <david.randommail1@gmail.com> * backport the fix for setting binary_state as the default (ros-navigation#5459) Signed-off-by: olaghattas <olaghattas@hotmail.com> * Sync Jazzy Aug 19, 2025 1.4.1 (ros-navigation#5469) * Conserve curvature with LIMIT action (ros-navigation#5255) * 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> * Adding epsilon for voxel_layer precision loss (ros-navigation#5314) * Adding epsilon for voxel_layer precision loss Signed-off-by: bhx <1273698633@qq.com> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: bhx <1273698633@qq.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fix: correct ThroughActionResult type alias in would_a_planner_recovery_help_condition (ros-navigation#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 ros-navigation#5324 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Adding slow down at target heading to RPP Controller (ros-navigation#5361) * 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> * Eexception rethrow in dockRobot method (ros-navigation#5364) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add global min obstacle height in voxel layer (ros-navigation#5389) * Add min obstacle height in voxel layer Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix linting Signed-off-by: Maurice <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com> * [DEX] Enforce 3 digits precision (ros-navigation#5398) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [static_layer] limit comparison precision (ros-navigation#5405) * [DEX] limit comparison precision Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * EPSILON 1e-5 Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Smooth path even if goal pose is so much near to the robot (ros-navigation#5423) * Smooth path even if goal pose is so much near to the robot Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Apply suggestions Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Remove unnecessary diff Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Fix KeepoutFilter on the ARM architecture (ros-navigation#5436) Signed-off-by: Sushant Chavan <gitecsvc@gmail.com> * Fix missing dependency (ros-navigation#5460) * bump to 1.3.8 for Jazzy release Aug 19, 2025 Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * load balance CI Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: bhx <1273698633@qq.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Signed-off-by: Sushant Chavan <gitecsvc@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: hutao <108395177+coderbaibai@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Cihat Kurtuluş Altıparmak <cihataltiparmak1@gmail.com> Co-authored-by: Sushant Chavan <gitecsvc@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> * fix: Move SmootherParams declaration outside smooth_path conditional (ros-navigation#5473) (ros-navigation#5474) Fixes crash when dynamically changing smooth_path parameter from false to true. The issue occurred because SmootherParams were only declared when smooth_path was initially true, causing ParameterModifiedInCallbackException when trying to declare parameters within the dynamic parameter callback. Now SmootherParams are always declared, making them available for dynamic reconfiguration regardless of the initial smooth_path value. Fixes ros-navigation#5472 (cherry picked from commit 69a60df) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Replace last pose if only orientation differs in Navfn (ros-navigation#5490) (ros-navigation#5492) (cherry picked from commit ff80727) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> * Manual Backport Route Server to Jazzy (ros-navigation#5517) * Manual backport of Route Server to Jazzy Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix backport error Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * lint Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding in Nav2 BT + Launch Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Jazzy Sync Sept 19, 2025 1.3.9 (ros-navigation#5540) * Fix dynamic param SmacPlannerLattice (ros-navigation#5478) * Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix duplicate poses with computePlanThroughPoses (ros-navigation#5488) * fix-duplicate-poses Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix seg fault (ros-navigation#5501) * Fix segmentation fault Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add a service for enabling/disabling the collision monitor (ros-navigation#5493) * 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> * bump Jazzy to 1.3.9 for release Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Change service type for collision monitor Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix backport error Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * update Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Abhishekh Reddy <helloarm@pm.me> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Abhishekh Reddy <helloarm@pm.me> * Update package version from 1.1.0 to 1.3.9 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Add support for dynamically changing keepout zone (ros-navigation#5429) (ros-navigation#5542) * Add support for dynamically changing keepout zone * Linting * Revert binary and speed changes --------- (cherry picked from commit e690ef0) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> * Fix bad_weak_ptr in createBond() by using shared_ptr (backport ros-navigation#5341) (ros-navigation#5563) Signed-off-by: ymd-stella <world.applepie@gmail.com> * Fixed crash due to incorrect string construction (ros-navigation#5606) (ros-navigation#5613) (cherry picked from commit 48e7e06) Signed-off-by: Jay Herpin <jherpin@metalsharkboats.com> Co-authored-by: Jay Herpin <159202566+JayHerpin@users.noreply.github.com> * Add dependency on nav2_route in package.xml (ros-navigation#5639) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Revert ros-navigation#4971 in Jazzy (ros-navigation#5640) * Revert ros-navigation#4971 in Jazzy Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Bumping to 1.3.10 for urgent jazzy regression fixes (ros-navigation#5650) Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Backporting custom height point field into Jazzy. (ros-navigation#5646) * Summary commit of all changes for adding custom pointcloud field height. (ros-navigation#5586) Doing this to clear out unsigned commits from history. Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> * Corrected parameter declaration methods that aren't part of Jazzy. Fixed parameter typo from some manual merging in pointcloud.cpp Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> --------- Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Vignesh T <vignesh.t@kabam.ai> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: dw25628 <dwoodwell@vermeer.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com> Signed-off-by: Jacob Visser <jacob.visser@cboost.nl> Signed-off-by: David G <david.randommail1@gmail.com> Signed-off-by: olaghattas <olaghattas@hotmail.com> Signed-off-by: bhx <1273698633@qq.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Signed-off-by: Sushant Chavan <gitecsvc@gmail.com> Signed-off-by: Abhishekh Reddy <helloarm@pm.me> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Jay Herpin <jherpin@metalsharkboats.com> Signed-off-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.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: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Vignesh T <vignesh.t@kabam.ai> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: Marco Bassa <101661130+MarcoMatteoBassa@users.noreply.github.com> Co-authored-by: Raman <52356167+RamanRobotics@users.noreply.github.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: dw25628 <108828484+dw25628@users.noreply.github.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: cboostjvisser <89262699+cboostjvisser@users.noreply.github.com> Co-authored-by: DavidG-Develop <147402604+DavidG-Develop@users.noreply.github.com> Co-authored-by: olaghattas <98136555+olaghattas@users.noreply.github.com> Co-authored-by: hutao <108395177+coderbaibai@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Cihat Kurtuluş Altıparmak <cihataltiparmak1@gmail.com> Co-authored-by: Sushant Chavan <gitecsvc@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Abhishekh Reddy <helloarm@pm.me> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: Jay Herpin <159202566+JayHerpin@users.noreply.github.com> Co-authored-by: Greg Anderson <107634795+greganderson-vermeer@users.noreply.github.com>

SteveMacenski reviewed May 13, 2025

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SteveMacenski reviewed May 15, 2025

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SteveMacenski approved these changes May 15, 2025

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SteveMacenski reviewed May 15, 2025

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MarcoMatteoBassa and others added 4 commits May 16, 2025 09:15

Adding declare_or_get_param util to node utils

94b7d8a

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

Adding test for declare_or_get_param util

93484a3

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

Adding declare_or_get_parameter function by type, using explicit vari…

865281d

…able names, disabling param warnings by default Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>

Update nav2_util/test/test_node_utils.cpp

c79fb2f

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

MarcoMatteoBassa force-pushed the main branch from ba3d4a8 to c79fb2f Compare May 16, 2025 07:18

Fixing codecove test

748d1d5

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

MarcoMatteoBassa force-pushed the main branch from 33b4a2c to ecd84f7 Compare May 16, 2025 15:37

Catching possible exception in declare_or_get_by_type

cff2fe8

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

MarcoMatteoBassa force-pushed the main branch from ecd84f7 to cff2fe8 Compare May 16, 2025 15:41

SteveMacenski reviewed May 16, 2025

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nav2_util/include/nav2_util/node_utils.hpp Outdated Show resolved Hide resolved

Templating return type of declare parameter by value

c7099fc

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

SteveMacenski approved these changes May 19, 2025

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SteveMacenski merged commit 09c4617 into ros-navigation:main May 20, 2025
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MarcoMatteoBassa mentioned this pull request May 23, 2025

Adding parameter warn_when_defaulting_parameters to control default parameter warnings #5189

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mergify bot mentioned this pull request May 29, 2025

Adding parameter warn_when_defaulting_parameters to control default parameter warnings (backport #5189) #5210

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MarcoMatteoBassa commented May 13, 2025

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