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Add heading error in controller server#5894

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SteveMacenski merged 7 commits intoros-navigation:mainfrom
mini-1235:feat/heading_error
Feb 2, 2026
Merged

Add heading error in controller server#5894
SteveMacenski merged 7 commits intoros-navigation:mainfrom
mini-1235:feat/heading_error

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@mini-1235 mini-1235 commented Jan 26, 2026

Basic Info

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Ticket(s) this addresses related to #5037
Primary OS tested on Ubuntu
Robotic platform tested on Tb4
Does this PR contain AI generated software? (No; Yes and it is marked inline in the code)
Was this PR description generated by AI software? Out of respect for maintainers, AI for human-to-human communications are banned

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in docs.nav2.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
  • Should this be backported to current distributions? If so, tag with backport-*.

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Add heading error in controller server
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mini-1235 commented Jan 26, 2026

There are a few issues with my previous PR: #5864

  1. bt_navigator: I shouldn't reset the path in initializeGoalPose. Instead, I should check whether the path or goal has been updated in onLoop(when the blackboard variable is updated). Otherwise, the search process may start with an incorrect start index
  2. rviz: My previous change prevents the Nav2 Goal tool from preempting an active navigation, so I am reverting it. After spending some time reading through the code, I couldn't find an easy way to handle Nav2Pose/Waypoint Follower at the same time. Since this only affects Nav2Pose, and the impact is limited to the Nav2 Panel not resetting to its initial state when reaching the goal, I think it's better to revert the change and leave it for now

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Remove reversing check
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codecov bot commented Jan 28, 2026 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines Coverage Δ
...avigator/src/navigators/navigate_through_poses.cpp 89.62% <100.00%> (+0.40%) ⬆️
...2_bt_navigator/src/navigators/navigate_to_pose.cpp 83.87% <100.00%> (+1.45%) ⬆️
nav2_controller/src/controller_server.cpp 80.39% <100.00%> (+0.34%) ⬆️
nav2_util/src/path_utils.cpp 100.00% <100.00%> (ø)

... and 28 files with indirect coverage changes

🚀 New features to boost your workflow:
  • ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

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Reset path when receiving goal
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A couple of small bits otherwise LGTM

@SteveMacenski SteveMacenski merged commit b72f536 into ros-navigation:main Feb 2, 2026
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Pana1v pushed a commit to Arnav-panjla/navigation2 that referenced this pull request Feb 21, 2026
@mini-1235
Add heading error in controller server (ros-navigation#5894)
2cd92e6 
* Add heading error in controller server

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

* Lint

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

* Lint

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

* Fix

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

* Remove reversing check

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

* Add comment

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

* Reset path when receiving goal

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

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
@mini-1235 mini-1235 mentioned this pull request Mar 5, 2026
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