Add a service for enabling/disabling the collision monitor by armgits · Pull Request #5493 · ros-navigation/navigation2

armgits · 2025-08-27T21:13:36Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5463
Primary OS tested on	Ubuntu
Robotic platform tested on	Turtlebot 3 Loopback Simulation
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

Description of contribution in a few bullet points

Added a service to globally enable/disable collision monitor
Added a new Toggle interface in nav2_msgs that is similar to SetBool from std_srvs

Description of documentation updates required from your changes

Mentioning this interface in the Collision Monitor Node documentation if needed.

Description of how this change was tested

This change was tested in TB3 loopback simulation with the service requests sent from CLI. Upon toggling off the collision monitor, robot doesn't slowdown/stop when the polygons overlap with the collision points on the map.

Future work that may be required in bullet points

Implementing behavior tree node by @DavidG-Develop
Any code quality improvements since this is my first time!

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-*.

SteveMacenski

Also check out the failing linting and DCO CI jobs and resolve their issues please!

How did you test these changes?

nav2_collision_monitor/src/collision_monitor_node.cpp

DavidG-Develop · 2025-08-28T08:14:25Z

Although this solution seems like it should also work by disabling and enabling all polygons using this service I feel like a simpler solution could be a better one... Currently you must set a parameter for each polygon that is set up and if we have many polygons that could unnecessarily increase time needed for the service call execution... Also now you set the enabled param for all polygons to true or false but it could be very possible that some of those polygons should not be enabled as they were also disabled before the service call to toggle off.

I would propose the following:

Keep the service server set up as is
Change the service topic name to use "~/" notation for namespace resolution
In the service callback just set the enabled_ to true (+ log that the collision monitor is now on/of or has been enabled/disabled)
in the cmdVelInCallbackStamped do something simmilar to:

void CollisionMonitor::cmdVelInCallbackStamped(geometry_msgs::msg::TwistStamped::SharedPtr msg)
{
  // If message contains NaN or Inf, ignore
  if (!nav2_util::validateTwist(msg->twist)) {
    RCLCPP_ERROR(get_logger(), "Velocity message contains NaNs or Infs! Ignoring as invalid!");
    return;
  }
  if (enabled_){
    process({msg->twist.linear.x, msg->twist.linear.y, msg->twist.angular.z}, msg->header);
  } else {
    // Republish the message
    Action robot_action{DO_NOTHING, {msg->twist.linear.x, msg->twist.linear.y, msg->twist.angular.z}, ""};
    publishVelocity(robot_action, msg->header);
  }
}

This way the node acts simply as a relay for cmd vel taking it from input and publishing it on output witouth doing any additional computation and not generating the polygons.

This change requires to be tested which I could not do it on my machine. Please provide any feedback from testing.

If your PC is not powerfull enough to run the sim you can firstly try running gazebo headless to reduce the load, secondly you can try the Loopback simulator which can be used so simple testing.

armgits · 2025-08-28T17:57:05Z

I'm working on the changes/fixes suggested above by Steve, but your solution looks pretty good too. I'm not sure if the process() method could be entirely skipped.

SteveMacenski · 2025-08-28T22:34:35Z

Something nice that running the full function does is still exercise this condition to check of sensor data is not updating correctly. Even if we disable the collision element of things, stopping due to hardware issues seems still useful. But, that could be abstracted into a lambda or function and used both here and in the else condition.

@armgits can you make this change if you agree that there's nothing else in the process we should ensure we do?

unnecessarily increase time needed for the service call execution

I do also generally agree with that. Instead, we could just update the enabled for each polygon with a new API instead of using dynamic parameter callbacks. But moot if we change the enabled globally

This change requires to be tested which I could not do it on my machine. Please provide any feedback from testing.

Why are you unable to test on your machine? If you have the compute resources to compile Nav2, you probably have all you need to simulate it too

SteveMacenski · 2025-09-03T18:06:18Z

@armgits any update?

armgits · 2025-09-04T18:34:36Z

I'm still working and here are some updates so far:

@armgits can you make this change if you agree that there's nothing else in the process we should ensure we do?

I made this change locally but some unit tests are failing after extracting the check condition into a function which I'm looking into. I noticed that the process() function returns if the process_active_ flag isn't set. I think this applies even in disabled state right (to check sensor data and publish velocity)?

I was also thinking if we could have separate process() methods for enabled and disabled states like processEnabledState() and processDisabledState() to keep things clean in the subscription callback.

Why are you unable to test on your machine? If you have the compute resources to compile Nav2, you probably have all you need to simulate it too

This has been slowing me down. Gazebo isn’t running properly on either of my laptops (even in headless mode), so I’ve been testing with loopback simulation instead. Based on my testing with the old logic after sorting that out last week, I can confirm the service interface responded correctly to CLI requests, but haven't seen any polygons published or changes in robot's behavior with enabled/disabled states. (I'm testing with this tutorial Using Collision Monitor)

SteveMacenski · 2025-09-04T19:44:40Z

I noticed that the process() function returns if the process_active_ flag isn't set.

That flags is for the lifecycle state transition, that it can process data because the node is in the Activate state to process data, versus in the process of being deactivated or configuring or so on.

I think right here, here, and here you could just add a check for enabled_. If not enabled, it continue or not publish the polygon or not log changes. But, it should still then do the checks on stopping due to sensor stoppages which I think is still crucial.

What's up with gazebo? You can also try the loopback simulator instead, we have launch files using those in the nav2_bringup package.

armgits · 2025-09-05T03:24:18Z

I have completed adding the new changes, tested them successfully in loopback simulation, passes all unit tests and is linted. While I ensured to sign off new commits, I want to sign off the old commits too and push the changes.

For now, I just tried rebasing my local branch from the commit just before my first one last week, leaving everything else as it is upon which I made new commits. Based on this:

Is this okay?

SteveMacenski · 2025-09-05T18:15:32Z

Sure! You could always just commit here and then pull in / rebase on main afterwards. We squash merge all PRs anyway so not having the cleanest git commit history is not a big deal (to me at least; we have so much more to focus on 😆 ) since it'll all get squashed into a single commit onto main. Just look out for DCO and if it doesn't pass, look at the job and just do what the instructions there tell you to do.

SteveMacenski · 2025-09-05T19:35:44Z

@armgits something's gone wrong here, you have included all the recent commits from the Nav2 branch. That is not correct and the diff shows them in this PR versus only your changes.

armgits · 2025-09-05T19:55:03Z

I tried to sign off only my commits and leave the following commits untouched first but the DCO didn't pass that way, so I had to sign off all the following commits too.

I synced my branch with the main branch that brought in all the new commits, was that the mistake?

armgits · 2025-09-05T20:04:00Z

I can roll back my branch to just before I made my first commit and reapply just my commits from there. That will not include other commits and diff would show only my changes.

codecov · 2025-09-05T20:06:18Z

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...2_collision_monitor/src/collision_monitor_node.cpp	`97.18% <100.00%> (+0.08%)`	⬆️

... 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 · 2025-09-05T20:09:13Z

Yeah I'd grab your changes and many cherry pick them onto a clean branch or otherwise roll back to a state without all these excess commits and try again. You don't need to rebase beyond what's needed for DCO which shouldn't be pulling in changes

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

…vice Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

SteveMacenski

You missed one for notifyActionState

nav2_collision_monitor/src/collision_monitor_node.cpp

DavidG-Develop · 2025-09-18T08:55:40Z

I opened a PR with the bt stuff, but I feel that keeping the param tied to this PR might be better. I would recommend that @armgits also includes the parameter change into this PR as that way we have 2 encased PRs that don't change the same files and should just be able to be merged one after another easier.

@armgits are you okay with you adding the param? It has to be added into the param file in the bringup package (name wise is up to you if you want to stick with just enabled or start_enabled or smthn similar) and read in the CollisionMonitor::getParameters to be used as initial value for your enabled_ variable.

Great! I think you can open that as a draft now as long as you link it back here so we know to test it once this is merged (unless you've already tested from a fork of this branch?)

I did not test it directly on the fork of this branch, but I already did have a rudimentary implementation of this solution (as we discussed in the issue before) so I did have where to test it at. Also, as it is just a service called any service server that takes than the agreed upon nav2_msgs::srv::Toggle should be enough to test it in my opinion. (i did also write a test for it)

SteveMacenski · 2025-09-18T15:58:37Z

I feel that keeping the param tied to this PR might be better.

I would like to minimize the additional changes requested to @armgits so we can get this merged in ASAP which would unblock the BT PR and another enabled PR as a matter of efficiency. I think its OK for now to merge this without it since it doesn't create a bug, just brings up a future enhancement that we have in mind.

@armgits please make that one open change and we can merge. If you are open to contributing the enabled parameter PR as well, you can do that immediately after that change and I can merge after I merge this one!

mergify · 2025-09-19T00:08:46Z

This pull request is in conflict. Could you fix it @armgits?

armgits · 2025-09-19T00:11:22Z

I think someone has already done that bit and now when I pushed my changes there's a merge conflict.

Update: I just realized that change was already done on the main branch, I'll rewrite mine to exactly match the main branch and see if the merge conflict could be resolved.

DavidG-Develop · 2025-09-19T07:08:33Z

I would like to minimize the additional changes requested to @armgits so we can get this merged in ASAP which would unblock the BT PR and another enabled PR as a matter of efficiency. I think its OK for now to merge this without it since it doesn't create a bug, just brings up a future enhancement that we have in mind.

Understood 👍

@armgits you can than decide if you want to do a pr for the enabled param than or if I should.

armgits · 2025-09-19T17:53:19Z

I will do the PR for enabled parameter once this gets merged.

SteveMacenski · 2025-09-19T19:29:31Z

@armgits can you deal with the merge conflict?

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

armgits · 2025-09-19T20:00:35Z

@SteveMacenski I tried, but there's still a small portion of code that's in conflict... Could it be manually resolved by accepting the incoming changes to the main branch?

SteveMacenski · 2025-09-19T20:06:01Z

No - you need to hit the "Resolve Conflicts" button and resolve it manually before I can merge

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

armgits · 2025-09-19T20:12:18Z

My bad! Just learnt that I could edit that and remove the markers, it should be good now.

SteveMacenski · 2025-09-19T21:14:38Z

Great! Merged!

The BT Nodes and Enabled Parameter are up next - thanks everyone!

* 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>

* Fix dynamic param SmacPlannerLattice (#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 (#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 (#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 (#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>

keshavchintamani · 2025-09-20T09:02:42Z

@armgits @DavidG-Develop thanks for all the effort to get this PR through! Im keen to test it in one of our use cases which is going live soon.
@SteveMacenski any estimates on when this PR will be back ported into humble?

SteveMacenski · 2025-09-22T18:38:59Z

I tried when I did my syncs on Friday but the merge conflicts were too large for me to do in my batch release process. I got it out into Jazzy and Kilted though!

If you want it in humble, you may want to manually backport it and then I can review / merge.

…ation#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>

* 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>

* 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 requested changes Aug 27, 2025

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nav2_collision_monitor/src/collision_monitor_node.cpp Outdated Show resolved Hide resolved

nav2_collision_monitor/src/collision_monitor_node.cpp Outdated Show resolved Hide resolved

nav2_collision_monitor/src/collision_monitor_node.cpp Show resolved Hide resolved

armgits force-pushed the collision-monitor-toggle-service branch 2 times, most recently from 978bc74 to 9a53a82 Compare September 5, 2025 19:34

armgits and others added 12 commits September 5, 2025 16:30

Added std_srvs package to dependencies

0f23d6f

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Declared service and callback for enabling/disabling collision monitor

80a7b92

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Declared a variable to store collision monitor enable/disable state

b88d552

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Added initialization for collision monitor enable/disable service

e42f714

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Implemented service callback for collision monitor enable/disable ser…

34b8881

…vice Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Removed std_srvs package dependency

a5e14c2

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Added Toggle interface

2849992

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Replaced Trigger interface with the new Toggle interface

3d98ebe

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Added default initialization for enabled flag

cf75f2e

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Fixed toggle service name

8cdaee1

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Updated toggle logic for collision monitor

334ccd5

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

Added a new line at the end of file

4a6c7f4

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

armgits force-pushed the collision-monitor-toggle-service branch from 9a53a82 to 4a6c7f4 Compare September 5, 2025 20:32

SteveMacenski reviewed Sep 5, 2025

View reviewed changes

nav2_collision_monitor/src/collision_monitor_node.cpp Outdated Show resolved Hide resolved

nav2_collision_monitor/src/collision_monitor_node.cpp Outdated Show resolved Hide resolved

Replaced rclcpp::spin_some

aa11e09

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

armgits force-pushed the collision-monitor-toggle-service branch from d8cc774 to aa11e09 Compare September 19, 2025 19:58

Merge branch 'main' into collision-monitor-toggle-service

742833e

Signed-off-by: Abhishekh Reddy <helloarm@pm.me>

SteveMacenski merged commit c95673e into ros-navigation:main Sep 19, 2025
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DavidG-Develop mentioned this pull request Sep 24, 2025

Toggle collision manager docs ros-navigation/docs.nav2.org#780

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SteveMacenski mentioned this pull request Sep 25, 2025

Add Collision Monitor Toggle Service as Simple Commander Python API #5551

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armgits mentioned this pull request Sep 26, 2025

Add a parameter to set initial enabled state for the collision monitor #5554

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DavidG-Develop mentioned this pull request Sep 28, 2025

Add toggle cm to simple commander API #5559

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