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feat: add parameter to log transitions to IDLE state in behavior tree#5963

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SteveMacenski merged 2 commits intoros-navigation:mainfrom
botsandus:bt_log_idle_transitions_param
Feb 17, 2026
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feat: add parameter to log transitions to IDLE state in behavior tree#5963
SteveMacenski merged 2 commits intoros-navigation:mainfrom
botsandus:bt_log_idle_transitions_param

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@tonynajjar tonynajjar commented Feb 16, 2026 •
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Basic Info

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Ticket(s) this addresses (add tickets here #1)
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
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

  • add parameter to log transitions to IDLE state in behavior tree

Description of documentation updates required from your changes

https://docs.nav2.org/configuration/packages/configuring-bt-navigator.html needs to be updated

Description of how this change was tested

  • set true and false and see the difference in logs

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-*.

@tonynajjar
feat: add parameter to log transitions to IDLE state in behavior tree
54a4eb3 
Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
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tonynajjar commented Feb 16, 2026 •
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@SteveMacenski My only question is: default to true or false? In BT.CPP and before this PR in Nav2 it defaults to true but I feel like most of the time the transition to IDLE is not useful so I'd set it to false. No strong opinion

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The usual bits about docs.nav2.org updates. Otherwise LGTM

I think default true makes sense to fully describe the states (unless there's another notification that makes clear its done?)

@tonynajjar
default to true
0fbeee7 
Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
@tonynajjar tonynajjar mentioned this pull request Feb 17, 2026
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tonynajjar commented Feb 17, 2026

The usual bits about docs.nav2.org updates.

done

I think default true makes sense to fully describe the states

Defaulted to true

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codecov bot commented Feb 17, 2026 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines Coverage Δ
...ee/include/nav2_behavior_tree/bt_action_server.hpp 83.33% <ø> (ø)
...clude/nav2_behavior_tree/bt_action_server_impl.hpp 87.80% <100.00%> (+0.12%) ⬆️
...ee/include/nav2_behavior_tree/ros_topic_logger.hpp 100.00% <100.00%> (ø)

... and 21 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 SteveMacenski merged commit 707250e into ros-navigation:main Feb 17, 2026
17 checks passed
tonynajjar added a commit to botsandus/navigation2 that referenced this pull request Feb 17, 2026
@tonynajjar
feat: add parameter to log transitions to IDLE state in behavior tree (…
57c2f96 
…ros-navigation#5963)

* feat: add parameter to log transitions to IDLE state in behavior tree

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

* default to true

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

---------

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
Pana1v pushed a commit to Arnav-panjla/navigation2 that referenced this pull request Feb 21, 2026
@tonynajjar
feat: add parameter to log transitions to IDLE state in behavior tree (…
2f627c5 
…ros-navigation#5963)

* feat: add parameter to log transitions to IDLE state in behavior tree

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

* default to true

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

---------

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
Signed-off-by: panav <panav@10xconstruction.com>
Pana1v pushed a commit to Arnav-panjla/navigation2 that referenced this pull request Feb 21, 2026
@tonynajjar
feat: add parameter to log transitions to IDLE state in behavior tree (…
272e850 
…ros-navigation#5963)

* feat: add parameter to log transitions to IDLE state in behavior tree

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

* default to true

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

---------

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
Signed-off-by: panav <panav@10xconstruction.com>
Pana1v pushed a commit to Arnav-panjla/navigation2 that referenced this pull request Feb 21, 2026
@tonynajjar
feat: add parameter to log transitions to IDLE state in behavior tree (…
86ff6fd 
…ros-navigation#5963)

* feat: add parameter to log transitions to IDLE state in behavior tree

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

* default to true

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

---------

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
Pana1v pushed a commit to Arnav-panjla/navigation2 that referenced this pull request Feb 22, 2026
@tonynajjar
feat: add parameter to log transitions to IDLE state in behavior tree (…
4e9b65b 
…ros-navigation#5963)

* feat: add parameter to log transitions to IDLE state in behavior tree

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

* default to true

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

---------

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
Signed-off-by: panav <panav@10xconstruction.com>
Pana1v pushed a commit to Arnav-panjla/navigation2 that referenced this pull request Feb 22, 2026
@tonynajjar @mini-1235
feat: add parameter to log transitions to IDLE state in behavior tree (…
96b0c0f 
…ros-navigation#5963)

* feat: add parameter to log transitions to IDLE state in behavior tree

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

* default to true

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

---------

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
Signed-off-by: panav <panav@10xconstruction.com>
Signed-off-by: Maurice <mauricepurnawan@gmail.com>
EricoMeger pushed a commit to EricoMeger/navigation2 that referenced this pull request Feb 22, 2026
@tonynajjar @EricoMeger
feat: add parameter to log transitions to IDLE state in behavior tree (…
fb61ab7 
…ros-navigation#5963)

* feat: add parameter to log transitions to IDLE state in behavior tree

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

* default to true

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>

---------

Signed-off-by: Tony Najjar <tony.najjar@dexory.com>
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