Signed-off-by: Tatsuro Sakaguchi <[email protected]>

The definition of the slot was removed in commit
e6f500e ("nav2_rviz_plugins: Remove slots without
implementation (ros-navigation#4974)", 2025-03-10), because it had no
implementation. But we forgot to remove the reference to this slot,
because the compiler cannot detect it.

We remove the reference now. Without this, rviz shows warnings like:

    QObject::connect: No such slot nav2_rviz_plugins::CostmapCostTool::updateAutoDeactivate()
    QObject::connect:  (sender name:   'Single click')

Signed-off-by: Michal Sojka <[email protected]>

…igation#5006)

* * Parametrize collision checking in nav2_graceful_controller

Signed-off-by: suchetanrs <[email protected]>

* * Fix linting errors

Signed-off-by: suchetanrs <[email protected]>

* * Address PR comments
* Add parameter to dynamic reconfigure

Signed-off-by: suchetanrs <[email protected]>

* * Add test for the use_collision_detection parameter

Signed-off-by: suchetanrs <[email protected]>

---------

Signed-off-by: suchetanrs <[email protected]>

* Update smac planner types

Signed-off-by: Michael Carlstrom <[email protected]>

* Test ament_mypy

Signed-off-by: Michael Carlstrom <[email protected]>

* Add packages

Signed-off-by: Michael Carlstrom <[email protected]>

* Fix arg name

Signed-off-by: Michael Carlstrom <[email protected]>

* Add **

Signed-off-by: Michael Carlstrom <[email protected]>

* Specific package

Signed-off-by: Michael Carlstrom <[email protected]>

* re-run ci

Signed-off-by: Michael Carlstrom <[email protected]>

* re-run ci

Signed-off-by: Michael Carlstrom <[email protected]>

---------

Signed-off-by: Michael Carlstrom <[email protected]>

…n#5023)

Signed-off-by: Alberto Tudela <[email protected]>

Signed-off-by: Steve Macenski <[email protected]>

Signed-off-by: Steve Macenski <[email protected]>

Signed-off-by: Yancey <[email protected]>

* Configured mypy strict on nav2_smac_planner.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Modify workflow to contain mypy configuration.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added dependency for type support

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Configured mypy for nav2_common

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added nav2_common to the workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Removed all instances of Any.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Fixed unsafe fixes using ruff.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

…on#5010)

* Migrate costmap bound check to clearArea for STVL override

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added unbounded map to world function.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added test for mapToWorldNoBounds

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

…s in MPPI critics (ros-navigation#4996)

* Add warning when settings not aligned; Add tunable option for near collision

Signed-off-by: mini-1235 <[email protected]>

* Linting

Signed-off-by: mini-1235 <[email protected]>

* Add more information for warning

Signed-off-by: mini-1235 <[email protected]>

* Add test for coverage

Signed-off-by: mini-1235 <[email protected]>

* Throw controller exception instead of invalid argument

Signed-off-by: mini-1235 <[email protected]>

---------

Signed-off-by: mini-1235 <[email protected]>

…5029)

* Added pre-commit with ament ignores to the workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Removed codespell from workflow and enabled write changes in pre-commit.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Update pull request template with a testing description section.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

…avigation#5034)

* feat(nav2_rotation_shim_controller): add use_path_orientations

Signed-off-by: Kemal Bektas <[email protected]>

* Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Kemal Bektas <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Kemal Bektas <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Configured nav2_bringup to be compatible with mypy.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added nav2_bringup to the linting workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Add service introspection for client and server side, more tests to go

Signed-off-by: mini-1235 <[email protected]>

* Add test for service server, fix repeat declaration

Signed-off-by: mini-1235 <[email protected]>

* Fix cpplint

Signed-off-by: mini-1235 <[email protected]>

* Add test for coverage

Signed-off-by: mini-1235 <[email protected]>

* Declare and set the parameter in service client and server class

Signed-off-by: mini-1235 <[email protected]>

* Add typedef; Fix costmap cost tool and bt service

Signed-off-by: mini-1235 <[email protected]>

* Rebase; Add tests for coverage

Signed-off-by: mini-1235 <[email protected]>

* Fix costmap cost tool; Typedef

Signed-off-by: mini-1235 <[email protected]>

* Cleanup

Signed-off-by: mini-1235 <[email protected]>

* Add spin thread

Signed-off-by: mini-1235 <[email protected]>

* Add spin

Signed-off-by: mini-1235 <[email protected]>

* Change spin thread to internal executor

Signed-off-by: mini-1235 <[email protected]>

* Use rclcpp spin when no internal executor

Signed-off-by: mini-1235 <[email protected]>

* Update nav2_util/include/nav2_util/service_client.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_util/include/nav2_util/service_client.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_util/include/nav2_util/service_client.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_util/include/nav2_util/service_client.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Refactor

Signed-off-by: mini-1235 <[email protected]>

* Update nav2_util/include/nav2_util/service_client.hpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: mini-1235 <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Configured nav2_collision_monitor to use mypy strict.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added nav2_collision_monitor to the workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Configured mypy to run on the costmap_2d package.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added mypy_nav2_costmap_2d to the workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

…avigation#5027)

* Halt recovery action when main action succeeds to reset status

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_behavior_tree/plugins/control/recovery_node.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>

* Define attributes for nav2_msgs.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Configured opennav_docking to use strict mypy.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added opennav_docking to the mypy linting workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Clean set port

Signed-off-by: Alberto Tudela <[email protected]>

* Remove set

Signed-off-by: Alberto Tudela <[email protected]>

---------

Signed-off-by: Alberto Tudela <[email protected]>

* Configured nav2_lifecycle_manager to be compatible with mypy

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added nav2_lifecycle_manager to the workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

Signed-off-by: Johannes Plapp <[email protected]>

* Configured nav2_loopback_sim to be compatible with mypy.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added nav2_loopback_sim to the workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Separated packages from list for mypy workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Add constraint; fix settings

Signed-off-by: mini-1235 <[email protected]>

* Add lower and upper bound

Signed-off-by: mini-1235 <[email protected]>

* Update tests

Signed-off-by: mini-1235 <[email protected]>

* Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: mini-1235 <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Configured nav2_map_server to be mypy compliant.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added nav2_map_server to the mypy workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

…ation#5057)

* Publishing a full MPPI trajectory if desirable

Signed-off-by: Steve Macenski <[email protected]>

* only create publisher when needed

Signed-off-by: Steve Macenski <[email protected]>

* adjust topics

Signed-off-by: Steve Macenski <[email protected]>

* Moving for lint

Signed-off-by: Steve Macenski <[email protected]>

* updating topics in tests

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>

* Add a double spin

Signed-off-by: Alberto Tudela <[email protected]>

* Add comment

Signed-off-by: Alberto Tudela <[email protected]>

* Move spin to constructor

Signed-off-by: Alberto Tudela <[email protected]>

---------

Signed-off-by: Alberto Tudela <[email protected]>

There remained a duplicate test of test_system_launch after Groot
monitoring was removed

Signed-off-by: Rasmus Larsson <[email protected]>

* Added most nav2_simple_commander files that can be trivially converted to be mypy compatible.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Modified edge cases and types for robot_navigator to pass mypy checks.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added nav2_simple_commander to the linting workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added logs and ignored type errors due to spins w/o timeout.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

…ion. (fix ros-navigation#4846) (ros-navigation#4994)

* Add WaypointStatus message type & Remove MissedWaypoint message type

Signed-off-by: zz990099 <[email protected]>

* Add waypoint_statuses records in RemoveInCollisionGoals/RemovePassedGoals actions

Signed-off-by: zz990099 <[email protected]>

* Add validation tests

Signed-off-by: zz990099 <[email protected]>

* Make NavigateThroughPoses navigator report waypoint statuses information

Signed-off-by: zz990099 <[email protected]>

* Make WaypointFollower use WaypointStatus message type in action result

Signed-off-by: zz990099 <[email protected]>

* Split MISSED status into SKIPPED & FAILED

Signed-off-by: zz990099 <[email protected]>

* fix edge case handle in RemoveInCollision/RemovePassed BT actions

Signed-off-by: zz990099 <[email protected]>

* Add validation test cases for RemoveInCollision&RemovePassed BT actions

Signed-off-by: zz990099 <[email protected]>

* Update RemovePassedGoals/RemoveInCollisionGoals node in Groot XML

Signed-off-by: zz990099 <[email protected]>

---------

Signed-off-by: zz990099 <[email protected]>

* Revert removing live groot monitoring from Nav2 (ros-navigation#2696)

Signed-off-by: Alberto Tudela <[email protected]>

* Update to Groot2

Signed-off-by: Alberto Tudela <[email protected]>

* Added JSON conversions

Signed-off-by: Alberto Tudela <[email protected]>

* Fix rebase

Signed-off-by: Alberto Tudela <[email protected]>

* Update to nav_msgs::Goals

Signed-off-by: Alberto Tudela <[email protected]>

* Added nav_msgs to json utils

Signed-off-by: Alberto Tudela <[email protected]>

* Add register to types

Signed-off-by: Alberto Tudela <[email protected]>

* Fix null-dereference

Signed-off-by: Alberto Tudela <[email protected]>

* Added Json test

Signed-off-by: Alberto Tudela <[email protected]>

* Fix some tests

Signed-off-by: Alberto Tudela <[email protected]>

* Fix flake

Signed-off-by: Alberto Tudela <[email protected]>

* Update package dependency

Signed-off-by: Alberto Tudela <[email protected]>

* Minor fixes

Signed-off-by: Alberto Tudela <[email protected]>

* Fix test

Signed-off-by: Alberto Tudela <[email protected]>

* Rename groot_publisher_port parameter to groot_server_port

Signed-off-by: Alberto Tudela <[email protected]>

* Minor  fix in tst

Signed-off-by: Alberto Tudela <[email protected]>

* Added JSON for waypoint_status

Signed-off-by: Alberto Tudela <[email protected]>

---------

Signed-off-by: Alberto Tudela <[email protected]>

)

* Fix incorrect world <-> map coordinates conversions

The conversion between world and map continuous (!) coordinates do not
require a +/-0.5. This offset is only required when converting discrete
map cell indexes to the coordinates of its center.

Signed-off-by: Dylan De Coeyer <[email protected]>

* nav2_smac_planner: fix smoother test when path is in collision

The added pose was indeed invalid, but the it was ignored by the
smoother, since considered as a cusp.

Instead, let's make the end of the plan invalid as it won't be ignored.
Also, let's duplicate the last pose to make the orientation estimation
fail, rather than adding a new arbitrary pose.

Signed-off-by: Dylan De Coeyer <[email protected]>

---------

Signed-off-by: Dylan De Coeyer <[email protected]>

…on#4941)

* index lookup and comparator optimisation

Signed-off-by: Guillaume Doisy <[email protected]>

* lint

Signed-off-by: Guillaume Doisy <[email protected]>

---------

Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>

* Add warning to some of the nodes

Signed-off-by: Adi Vardi <[email protected]>

* remove unused includes

Signed-off-by: Adi Vardi <[email protected]>

* Add warning to remaining nodes using isStatusActive to initialize

Signed-off-by: Adi Vardi <[email protected]>

* Change to note & update phrsing

Signed-off-by: Adi Vardi <[email protected]>

* replace reset by re-initialize

Signed-off-by: Adi Vardi <[email protected]>

---------

Signed-off-by: Adi Vardi <[email protected]>

* for LikelihoodFieldModel

Signed-off-by: Guillaume Doisy <[email protected]>

* for LikelihoodFieldModelProb

Signed-off-by: Guillaume Doisy <[email protected]>

* typo

Signed-off-by: Guillaume Doisy <[email protected]>

* init max_occ_dist in map.c and remove unnecessary condition

Signed-off-by: Guillaume Doisy <[email protected]>

---------

Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>

Signed-off-by: Alberto Tudela <[email protected]>

* Remove duplicate code

Signed-off-by: mini-1235 <[email protected]>

* Add twist validation for controller server

Signed-off-by: mini-1235 <[email protected]>

---------

Signed-off-by: mini-1235 <[email protected]>

Signed-off-by: Alberto Tudela <[email protected]>

* Add IsStoppedBTNode

Signed-off-by: Tony Najjar <[email protected]>

* add topic name + reformat

Signed-off-by: Tony Najjar <[email protected]>

* fix comment

Signed-off-by: Tony Najjar <[email protected]>

* fix abs

Signed-off-by: Tony Najjar <[email protected]>

* remove log

Signed-off-by: Tony Najjar <[email protected]>

* add getter functions for raw twist

Signed-off-by: Tony Najjar <[email protected]>

* remove unused code

Signed-off-by: Tony Najjar <[email protected]>

* use odomsmoother

Signed-off-by: Tony Najjar <[email protected]>

* fix formatting

Signed-off-by: Tony Najjar <[email protected]>

* update groot

Signed-off-by: Tony Najjar <[email protected]>

* Add test

Signed-off-by: Tony Najjar <[email protected]>

* reset at success

Signed-off-by: Tony Najjar <[email protected]>

* FIX velocity_threshold_

Signed-off-by: Tony Najjar <[email protected]>

* Fix stopped Node

Signed-off-by: Tony Najjar <[email protected]>

* Add tests  to odometry_utils

Signed-off-by: Tony Najjar <[email protected]>

* fix linting

Signed-off-by: Tony Najjar <[email protected]>

* lock costmap

Signed-off-by: Tony Najjar <[email protected]>

* improvement

Signed-off-by: Tony Najjar <[email protected]>

* remove spacing

Signed-off-by: Tony Najjar <[email protected]>

* remove unlock

Signed-off-by: Tony Najjar <[email protected]>

---------

Signed-off-by: Tony Najjar <[email protected]>

* Configured nodes of nav2_system_tests to be mypy compliant.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Configured launch files of nav2_system_tests to be mypy compliant.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added nav2_system_tests to the linting workflow.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Configured tools to be mypy compliant.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Added mypy as a pre-commit hook.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Simplified workflow by including all packages with mypy.

Signed-off-by: Leander Stephen D'Souza <[email protected]>

---------

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* redesign dynamic param patterns

Signed-off-by: Nils-ChristianIseke <[email protected]>

* change cache version

Signed-off-by: Nils-ChristianIseke <[email protected]>

* check that parameter of type double are  >=0.0

Signed-off-by: Nils-ChristianIseke <[email protected]>

---------

Signed-off-by: Nils-ChristianIseke <[email protected]>

…ction (ros-navigation#4925)

* Add force_use_current_pose

Signed-off-by: Guillaume Doisy <[email protected]>

* xml update

Signed-off-by: Guillaume Doisy <[email protected]>

* rename to use_start

Signed-off-by: Guillaume Doisy <[email protected]>

* lint

Signed-off-by: Guillaume Doisy <[email protected]>

* descriptions

Signed-off-by: Guillaume Doisy <[email protected]>

* simplify logic

Signed-off-by: Guillaume Doisy <[email protected]>

---------

Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>

… string (ros-navigation#4926)

* [CostmapTopicCollisionChecker] Alternative constructor with footprint

Signed-off-by: Guillaume Doisy <[email protected]>

* raw pointer

Signed-off-by: Guillaume Doisy <[email protected]>

* suggestions from review

Signed-off-by: Guillaume Doisy <[email protected]>

---------

Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>

…gation#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

* Replace dock_backwards_ param with dock plugin function

Signed-off-by: Alberto Tudela <[email protected]>

* Deprecated dock_backwards warning

Signed-off-by: Alberto Tudela <[email protected]>

* Convert dockDirection from bool to enum

Signed-off-by: Alberto Tudela <[email protected]>

* Minor fixes

Signed-off-by: Alberto Tudela <[email protected]>

* Improve deprecated param handling

Signed-off-by: Alberto Tudela <[email protected]>

* Set default to forward

Signed-off-by: Alberto Tudela <[email protected]>

* Added tests

Signed-off-by: Alberto Tudela <[email protected]>

* Update nav2_docking/README.md

Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: Alberto Tudela <[email protected]>

* Upper and others

Signed-off-by: Alberto Tudela <[email protected]>

* Revert declare_parameters_from_overrides

Signed-off-by: Alberto Tudela <[email protected]>

* Added throw on configure plugin

Signed-off-by: Alberto Tudela <[email protected]>

* Remove node_utils

Signed-off-by: Alberto Tudela <[email protected]>

---------

Signed-off-by: Alberto Tudela <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

…-navigation#5071)

* Update map_io library to use opencv method for faster map loading

Signed-off-by: Vignesh T <[email protected]>

* Update pre-commit config changes

Signed-off-by: Vignesh T <[email protected]>

* Use Eigen approach instead of OpenCV

Signed-off-by: Vignesh T <[email protected]>

* Update pre-commit changes

Signed-off-by: Vignesh T <[email protected]>

* Update include header include order

Signed-off-by: Vignesh T <[email protected]>

* Remove intermediary alpha matrix

Signed-off-by: Vignesh T <[email protected]>

* Add comments for the code understanding

Signed-off-by: Vignesh T <[email protected]>

* Fix else braces rule issue

Signed-off-by: Vignesh T <[email protected]>

* Create and use alpha_matrix when applying mask

Signed-off-by: Vignesh T <[email protected]>

* Update pre-commit changes

Signed-off-by: Vignesh T <[email protected]>

* Take flip part out of if-else

Signed-off-by: Vignesh T <[email protected]>

* Update pre-commit changes

Signed-off-by: Vignesh T <[email protected]>

---------

Signed-off-by: Vignesh T <[email protected]>

Signed-off-by: Steve Macenski <[email protected]>

* Add dock_database tests

Signed-off-by: Alberto Tudela <[email protected]>

* Add utils test

Signed-off-by: Alberto Tudela <[email protected]>

* Improve filter tests

Signed-off-by: Alberto Tudela <[email protected]>

* Added simple charging tests

Signed-off-by: Alberto Tudela <[email protected]>

* Improve comments

Signed-off-by: Alberto Tudela <[email protected]>

* Fix backward and redo main test

Signed-off-by: Alberto Tudela <[email protected]>

* Change test period to reduce test time

Signed-off-by: Alberto Tudela <[email protected]>

* Revert "Change test period to reduce test time"

This reverts commit ef1555e.

Signed-off-by: Alberto Tudela <[email protected]>

* Delete print pose

Signed-off-by: Alberto Tudela <[email protected]>

---------

Signed-off-by: Alberto Tudela <[email protected]>