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[Collision Monitor] fix Z base frame transformation (backport #5794)#5816

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SteveMacenski merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-5794
Dec 25, 2025
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[Collision Monitor] fix Z base frame transformation (backport #5794)#5816
SteveMacenski merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-5794

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@mergify mergify bot commented Dec 25, 2025

min_height / max_height applied to a pointcloud source in the CM is not anymore relative to base_frame_id but relative to the frame_id of that source when not using use_global_height.
Can be quite critical as impacting which part of a pointcloud are used in the collision monitor/detector.
I believe since: #5586
Draft to get the info out asap but not yet 100% checked. Will need extra sanity checks.

This is an automatic backport of pull request #5794 done by Mergify.

@doisyg @mergify
fix Z base frame transformation (#5794)
ede32e9 
Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
(cherry picked from commit 4534ff1)
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mergify bot commented Dec 25, 2025

@mergify[bot], all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @kilted, but it must be in main
to have these changes reflected into new distributions.

@SteveMacenski SteveMacenski merged commit 7482c5d into kilted Dec 25, 2025
7 of 10 checks passed
@mergify mergify bot deleted the mergify/bp/kilted/pr-5794 branch December 25, 2025 00:25
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mini-1235 commented Dec 25, 2025

The original PR was not backported to kilted, thus the parameter does not exist

[Processing: nav2_behavior_tree, nav2_collision_monitor]
--- stderr: nav2_collision_monitor            
/opt/overlay_ws/src/navigation2/nav2_collision_monitor/src/pointcloud.cpp: In member function ‘virtual bool nav2_collision_monitor::PointCloud::getData(const rclcpp::Time&, std::vector<nav2_collision_monitor::Point>&)’:
/opt/overlay_ws/src/navigation2/nav2_collision_monitor/src/pointcloud.cpp:105:10: error: ‘use_global_height_’ was not declared in this scope
  105 |     if (!use_global_height_) {
      |          ^~~~~~~~~~~~~~~~~~
/opt/overlay_ws/src/navigation2/nav2_collision_monitor/src/pointcloud.cpp:106:7: error: ‘data_height’ was not declared in this scope
  106 |       data_height = p_v3_b.z();
      |       ^~~~~~~~~~~
gmake[2]: *** [CMakeFiles/collision_monitor_core.dir/build.make:160: CMakeFiles/collision_monitor_core.dir/src/pointcloud.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:189: CMakeFiles/collision_monitor_core.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< nav2_collision_monitor [1min 54s, exited with code 2]
Aborted  <<< nav2_behavior_tree [35min 38s]  

Summary: 15 packages finished [47min 32s]
  1 package failed: nav2_collision_monitor
  1 package aborted: nav2_behavior_tree
  2 packages had stderr output: nav2_collision_monitor nav2_common
  13 packages not processed

Exited with code exit status 2

@mini-1235 mini-1235 mentioned this pull request Dec 25, 2025
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