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Increase docking coverage && fix backward docking (backport #5097)#5970

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Increase docking coverage && fix backward docking (backport #5097)#5970
mergify[bot] wants to merge 1 commit intojazzyfrom
mergify/bp/jazzy/pr-5097

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@mergify mergify bot commented Feb 18, 2026

Basic Info

Info Please fill out this column
Ticket(s) this addresses
Primary OS tested on Ubuntu 24.04
Robotic platform tested on Only testing
Does this PR contain AI generated software? No

Description of contribution in a few bullet points

  • Added more test to increase coverage of dock_database, utils, pose_filter, simple_charging_dock and simple_non_charging_dock.
  • Improve docking_server smoke test with environment variables in order to reuse tests.
  • Added test for SimpleNonChargingDock plugin and backward docking.
  • Fix dock pose and staging pose calculations while backward docking.
  • Reduce period in smoke test to reduce testing time. This was check using pytest --force-flaky up to 10 times. From ~54seg to ~38 seg.

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
This is an automatic backport of pull request #5097 done by [Mergify](https://mergify.com).

@ajtudela @mergify
Increase docking coverage && fix backward docking (#5097)
e7c4d81 
* Add dock_database tests

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Add utils test

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Improve filter tests

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Added simple charging tests

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Improve comments

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Fix backward and redo main test

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Change test period to reduce test time

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Revert "Change test period to reduce test time"

This reverts commit ef1555e.

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Delete print pose

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

---------

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
(cherry picked from commit 4b9b711)

# Conflicts:
#	nav2_docking/opennav_docking/src/docking_server.cpp
#	nav2_docking/opennav_docking/test/test_docking_server.py
#	nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
#	nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
@mergify mergify bot added the conflicts label Feb 18, 2026
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mergify bot commented Feb 18, 2026

Cherry-pick of 4b9b711 has failed:

On branch mergify/bp/jazzy/pr-5097
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 4b9b7110.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   nav2_docking/opennav_docking/CMakeLists.txt
	modified:   nav2_docking/opennav_docking/src/dock_database.cpp
	modified:   nav2_docking/opennav_docking/test/CMakeLists.txt
	new file:   nav2_docking/opennav_docking/test/dock_files/test_dock_bad_conversion_file.yaml
	new file:   nav2_docking/opennav_docking/test/dock_files/test_dock_bad_pose_file.yaml
	renamed:    nav2_docking/opennav_docking/test/test_dock_file.yaml -> nav2_docking/opennav_docking/test/dock_files/test_dock_file.yaml
	new file:   nav2_docking/opennav_docking/test/dock_files/test_dock_no_pose_file.yaml
	new file:   nav2_docking/opennav_docking/test/dock_files/test_dock_no_type_file.yaml
	new file:   nav2_docking/opennav_docking/test/dock_files/test_no_docks_file.yaml
	new file:   nav2_docking/opennav_docking/test/docking_params.yaml
	modified:   nav2_docking/opennav_docking/test/test_dock_database.cpp
	modified:   nav2_docking/opennav_docking/test/test_pose_filter.cpp
	modified:   nav2_docking/opennav_docking/test/test_utils.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   nav2_docking/opennav_docking/src/docking_server.cpp
	both modified:   nav2_docking/opennav_docking/test/test_docking_server.py
	both modified:   nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
	both modified:   nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

@mergify mergify bot mentioned this pull request Feb 18, 2026
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mergify bot commented Feb 18, 2026

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

@SteveMacenski SteveMacenski deleted the mergify/bp/jazzy/pr-5097 branch February 18, 2026 15:37
@icpmoles icpmoles mentioned this pull request Feb 18, 2026
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@SteveMacenski @ajtudela