Add a service for enabling/disabling the collision monitor by armgits · Pull Request #5493 · ros-navigation/navigation2

armgits · 2025-08-27T21:13:36Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5463
Primary OS tested on	Ubuntu
Robotic platform tested on	Turtlebot 3 Loopback Simulation
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

Description of contribution in a few bullet points

Added a service to globally enable/disable collision monitor
Added a new Toggle interface in nav2_msgs that is similar to SetBool from std_srvs

Description of documentation updates required from your changes

Mentioning this interface in the Collision Monitor Node documentation if needed.

Description of how this change was tested

This change was tested in TB3 loopback simulation with the service requests sent from CLI. Upon toggling off the collision monitor, robot doesn't slowdown/stop when the polygons overlap with the collision points on the map.

Future work that may be required in bullet points

Implementing behavior tree node by @DavidG-Develop
Any code quality improvements since this is my first time!

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-*.

SteveMacenski

Also check out the failing linting and DCO CI jobs and resolve their issues please!

How did you test these changes?

DavidG-Develop · 2025-08-28T08:14:25Z

Although this solution seems like it should also work by disabling and enabling all polygons using this service I feel like a simpler solution could be a better one... Currently you must set a parameter for each polygon that is set up and if we have many polygons that could unnecessarily increase time needed for the service call execution... Also now you set the enabled param for all polygons to true or false but it could be very possible that some of those polygons should not be enabled as they were also disabled before the service call to toggle off.

I would propose the following:

Keep the service server set up as is
Change the service topic name to use "~/" notation for namespace resolution
In the service callback just set the enabled_ to true (+ log that the collision monitor is now on/of or has been enabled/disabled)
in the cmdVelInCallbackStamped do something simmilar to:

void CollisionMonitor::cmdVelInCallbackStamped(geometry_msgs::msg::TwistStamped::SharedPtr msg)
{
  // If message contains NaN or Inf, ignore
  if (!nav2_util::validateTwist(msg->twist)) {
    RCLCPP_ERROR(get_logger(), "Velocity message contains NaNs or Infs! Ignoring as invalid!");
    return;
  }
  if (enabled_){
    process({msg->twist.linear.x, msg->twist.linear.y, msg->twist.angular.z}, msg->header);
  } else {
    // Republish the message
    Action robot_action{DO_NOTHING, {msg->twist.linear.x, msg->twist.linear.y, msg->twist.angular.z}, ""};
    publishVelocity(robot_action, msg->header);
  }
}

This way the node acts simply as a relay for cmd vel taking it from input and publishing it on output witouth doing any additional computation and not generating the polygons.

This change requires to be tested which I could not do it on my machine. Please provide any feedback from testing.

If your PC is not powerfull enough to run the sim you can firstly try running gazebo headless to reduce the load, secondly you can try the Loopback simulator which can be used so simple testing.

armgits · 2025-08-28T17:57:05Z

I'm working on the changes/fixes suggested above by Steve, but your solution looks pretty good too. I'm not sure if the process() method could be entirely skipped.

SteveMacenski · 2025-08-28T22:34:35Z

Something nice that running the full function does is still exercise this condition to check of sensor data is not updating correctly. Even if we disable the collision element of things, stopping due to hardware issues seems still useful. But, that could be abstracted into a lambda or function and used both here and in the else condition.

@armgits can you make this change if you agree that there's nothing else in the process we should ensure we do?

unnecessarily increase time needed for the service call execution

I do also generally agree with that. Instead, we could just update the enabled for each polygon with a new API instead of using dynamic parameter callbacks. But moot if we change the enabled globally

This change requires to be tested which I could not do it on my machine. Please provide any feedback from testing.

Why are you unable to test on your machine? If you have the compute resources to compile Nav2, you probably have all you need to simulate it too

SteveMacenski · 2025-09-03T18:06:18Z

@armgits any update?

armgits · 2025-09-04T18:34:36Z

I'm still working and here are some updates so far:

@armgits can you make this change if you agree that there's nothing else in the process we should ensure we do?

I made this change locally but some unit tests are failing after extracting the check condition into a function which I'm looking into. I noticed that the process() function returns if the process_active_ flag isn't set. I think this applies even in disabled state right (to check sensor data and publish velocity)?

I was also thinking if we could have separate process() methods for enabled and disabled states like processEnabledState() and processDisabledState() to keep things clean in the subscription callback.

Why are you unable to test on your machine? If you have the compute resources to compile Nav2, you probably have all you need to simulate it too

This has been slowing me down. Gazebo isn’t running properly on either of my laptops (even in headless mode), so I’ve been testing with loopback simulation instead. Based on my testing with the old logic after sorting that out last week, I can confirm the service interface responded correctly to CLI requests, but haven't seen any polygons published or changes in robot's behavior with enabled/disabled states. (I'm testing with this tutorial Using Collision Monitor)

SteveMacenski · 2025-09-04T19:44:40Z

I noticed that the process() function returns if the process_active_ flag isn't set.

That flags is for the lifecycle state transition, that it can process data because the node is in the Activate state to process data, versus in the process of being deactivated or configuring or so on.

I think right here, here, and here you could just add a check for enabled_. If not enabled, it continue or not publish the polygon or not log changes. But, it should still then do the checks on stopping due to sensor stoppages which I think is still crucial.

What's up with gazebo? You can also try the loopback simulator instead, we have launch files using those in the nav2_bringup package.

armgits · 2025-09-05T03:24:18Z

I have completed adding the new changes, tested them successfully in loopback simulation, passes all unit tests and is linted. While I ensured to sign off new commits, I want to sign off the old commits too and push the changes.

For now, I just tried rebasing my local branch from the commit just before my first one last week, leaving everything else as it is upon which I made new commits. Based on this:

Is this okay?

SteveMacenski · 2025-09-05T18:15:32Z

Sure! You could always just commit here and then pull in / rebase on main afterwards. We squash merge all PRs anyway so not having the cleanest git commit history is not a big deal (to me at least; we have so much more to focus on 😆 ) since it'll all get squashed into a single commit onto main. Just look out for DCO and if it doesn't pass, look at the job and just do what the instructions there tell you to do.

SteveMacenski · 2025-09-05T19:35:44Z

@armgits something's gone wrong here, you have included all the recent commits from the Nav2 branch. That is not correct and the diff shows them in this PR versus only your changes.

armgits · 2025-09-05T19:55:03Z

I tried to sign off only my commits and leave the following commits untouched first but the DCO didn't pass that way, so I had to sign off all the following commits too.

I synced my branch with the main branch that brought in all the new commits, was that the mistake?

armgits · 2025-09-05T20:04:00Z

I can roll back my branch to just before I made my first commit and reapply just my commits from there. That will not include other commits and diff would show only my changes.

codecov · 2025-09-05T20:06:18Z

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...2_collision_monitor/src/collision_monitor_node.cpp	`97.18% <100.00%> (+0.08%)`	⬆️

... and 3 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 · 2025-09-05T20:09:13Z

Yeah I'd grab your changes and many cherry pick them onto a clean branch or otherwise roll back to a state without all these excess commits and try again. You don't need to rebase beyond what's needed for DCO which shouldn't be pulling in changes

Signed-off-by: Abhishekh Reddy <[email protected]>

…vice Signed-off-by: Abhishekh Reddy <[email protected]>

Signed-off-by: Abhishekh Reddy <[email protected]>

SteveMacenski

You missed one for notifyActionState

DavidG-Develop · 2025-09-18T08:55:40Z

I opened a PR with the bt stuff, but I feel that keeping the param tied to this PR might be better. I would recommend that @armgits also includes the parameter change into this PR as that way we have 2 encased PRs that don't change the same files and should just be able to be merged one after another easier.

@armgits are you okay with you adding the param? It has to be added into the param file in the bringup package (name wise is up to you if you want to stick with just enabled or start_enabled or smthn similar) and read in the CollisionMonitor::getParameters to be used as initial value for your enabled_ variable.

Great! I think you can open that as a draft now as long as you link it back here so we know to test it once this is merged (unless you've already tested from a fork of this branch?)

I did not test it directly on the fork of this branch, but I already did have a rudimentary implementation of this solution (as we discussed in the issue before) so I did have where to test it at. Also, as it is just a service called any service server that takes than the agreed upon nav2_msgs::srv::Toggle should be enough to test it in my opinion. (i did also write a test for it)

SteveMacenski · 2025-09-18T15:58:37Z

I feel that keeping the param tied to this PR might be better.

I would like to minimize the additional changes requested to @armgits so we can get this merged in ASAP which would unblock the BT PR and another enabled PR as a matter of efficiency. I think its OK for now to merge this without it since it doesn't create a bug, just brings up a future enhancement that we have in mind.

@armgits please make that one open change and we can merge. If you are open to contributing the enabled parameter PR as well, you can do that immediately after that change and I can merge after I merge this one!

mergify · 2025-09-19T00:08:46Z

This pull request is in conflict. Could you fix it @armgits?

armgits · 2025-09-19T00:11:22Z

I think someone has already done that bit and now when I pushed my changes there's a merge conflict.

Update: I just realized that change was already done on the main branch, I'll rewrite mine to exactly match the main branch and see if the merge conflict could be resolved.

DavidG-Develop · 2025-09-19T07:08:33Z

I would like to minimize the additional changes requested to @armgits so we can get this merged in ASAP which would unblock the BT PR and another enabled PR as a matter of efficiency. I think its OK for now to merge this without it since it doesn't create a bug, just brings up a future enhancement that we have in mind.

Understood 👍

@armgits you can than decide if you want to do a pr for the enabled param than or if I should.

armgits · 2025-09-19T17:53:19Z

I will do the PR for enabled parameter once this gets merged.

SteveMacenski · 2025-09-19T19:29:31Z

@armgits can you deal with the merge conflict?

Signed-off-by: Abhishekh Reddy <[email protected]>

armgits · 2025-09-19T20:00:35Z

@SteveMacenski I tried, but there's still a small portion of code that's in conflict... Could it be manually resolved by accepting the incoming changes to the main branch?

SteveMacenski · 2025-09-19T20:06:01Z

No - you need to hit the "Resolve Conflicts" button and resolve it manually before I can merge

Signed-off-by: Abhishekh Reddy <[email protected]>

armgits · 2025-09-19T20:12:18Z

My bad! Just learnt that I could edit that and remove the markers, it should be good now.

SteveMacenski · 2025-09-19T21:14:38Z

Great! Merged!

The BT Nodes and Enabled Parameter are up next - thanks everyone!

* Added std_srvs package to dependencies Signed-off-by: Abhishekh Reddy <[email protected]> * Declared service and callback for enabling/disabling collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Declared a variable to store collision monitor enable/disable state Signed-off-by: Abhishekh Reddy <[email protected]> * Added initialization for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Implemented service callback for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Removed std_srvs package dependency Signed-off-by: Abhishekh Reddy <[email protected]> * Added Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced Trigger interface with the new Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Added default initialization for enabled flag Signed-off-by: Abhishekh Reddy <[email protected]> * Fixed toggle service name Signed-off-by: Abhishekh Reddy <[email protected]> * Updated toggle logic for collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Added a new line at the end of file Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Added enabled check for logging Signed-off-by: Abhishekh Reddy <[email protected]> * Added a unit test for toggle service Signed-off-by: Abhishekh Reddy <[email protected]> * Made the getter const and added a comment Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced rclcpp::spin_some Signed-off-by: Abhishekh Reddy <[email protected]> --------- Signed-off-by: Abhishekh Reddy <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

* Fix dynamic param SmacPlannerLattice (#5478) * Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <[email protected]> * remove comment Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Fix duplicate poses with computePlanThroughPoses (#5488) * fix-duplicate-poses Signed-off-by: Tony Najjar <[email protected]> * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix seg fault (#5501) * Fix segmentation fault Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Add a service for enabling/disabling the collision monitor (#5493) * Added std_srvs package to dependencies Signed-off-by: Abhishekh Reddy <[email protected]> * Declared service and callback for enabling/disabling collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Declared a variable to store collision monitor enable/disable state Signed-off-by: Abhishekh Reddy <[email protected]> * Added initialization for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Implemented service callback for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Removed std_srvs package dependency Signed-off-by: Abhishekh Reddy <[email protected]> * Added Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced Trigger interface with the new Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Added default initialization for enabled flag Signed-off-by: Abhishekh Reddy <[email protected]> * Fixed toggle service name Signed-off-by: Abhishekh Reddy <[email protected]> * Updated toggle logic for collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Added a new line at the end of file Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Added enabled check for logging Signed-off-by: Abhishekh Reddy <[email protected]> * Added a unit test for toggle service Signed-off-by: Abhishekh Reddy <[email protected]> * Made the getter const and added a comment Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced rclcpp::spin_some Signed-off-by: Abhishekh Reddy <[email protected]> --------- Signed-off-by: Abhishekh Reddy <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * bump Jazzy to 1.3.9 for release Signed-off-by: SteveMacenski <[email protected]> * Change service type for collision monitor Signed-off-by: Steve Macenski <[email protected]> * Fix backport error Signed-off-by: SteveMacenski <[email protected]> * update Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Abhishekh Reddy <[email protected]>

keshavchintamani · 2025-09-20T09:02:42Z

@armgits @DavidG-Develop thanks for all the effort to get this PR through! Im keen to test it in one of our use cases which is going live soon.
@SteveMacenski any estimates on when this PR will be back ported into humble?

SteveMacenski · 2025-09-22T18:38:59Z

I tried when I did my syncs on Friday but the merge conflicts were too large for me to do in my batch release process. I got it out into Jazzy and Kilted though!

If you want it in humble, you may want to manually backport it and then I can review / merge.

…ation#5493) * Added std_srvs package to dependencies Signed-off-by: Abhishekh Reddy <[email protected]> * Declared service and callback for enabling/disabling collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Declared a variable to store collision monitor enable/disable state Signed-off-by: Abhishekh Reddy <[email protected]> * Added initialization for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Implemented service callback for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Removed std_srvs package dependency Signed-off-by: Abhishekh Reddy <[email protected]> * Added Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced Trigger interface with the new Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Added default initialization for enabled flag Signed-off-by: Abhishekh Reddy <[email protected]> * Fixed toggle service name Signed-off-by: Abhishekh Reddy <[email protected]> * Updated toggle logic for collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Added a new line at the end of file Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Added enabled check for logging Signed-off-by: Abhishekh Reddy <[email protected]> * Added a unit test for toggle service Signed-off-by: Abhishekh Reddy <[email protected]> * Made the getter const and added a comment Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced rclcpp::spin_some Signed-off-by: Abhishekh Reddy <[email protected]> --------- Signed-off-by: Abhishekh Reddy <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

* Fix dynamic param SmacPlannerLattice (ros-navigation#5478) * Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <[email protected]> * remove comment Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Fix duplicate poses with computePlanThroughPoses (ros-navigation#5488) * fix-duplicate-poses Signed-off-by: Tony Najjar <[email protected]> * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix seg fault (ros-navigation#5501) * Fix segmentation fault Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Add a service for enabling/disabling the collision monitor (ros-navigation#5493) * Added std_srvs package to dependencies Signed-off-by: Abhishekh Reddy <[email protected]> * Declared service and callback for enabling/disabling collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Declared a variable to store collision monitor enable/disable state Signed-off-by: Abhishekh Reddy <[email protected]> * Added initialization for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Implemented service callback for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Removed std_srvs package dependency Signed-off-by: Abhishekh Reddy <[email protected]> * Added Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced Trigger interface with the new Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Added default initialization for enabled flag Signed-off-by: Abhishekh Reddy <[email protected]> * Fixed toggle service name Signed-off-by: Abhishekh Reddy <[email protected]> * Updated toggle logic for collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Added a new line at the end of file Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Added enabled check for logging Signed-off-by: Abhishekh Reddy <[email protected]> * Added a unit test for toggle service Signed-off-by: Abhishekh Reddy <[email protected]> * Made the getter const and added a comment Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced rclcpp::spin_some Signed-off-by: Abhishekh Reddy <[email protected]> --------- Signed-off-by: Abhishekh Reddy <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * bump Jazzy to 1.3.9 for release Signed-off-by: SteveMacenski <[email protected]> * Change service type for collision monitor Signed-off-by: Steve Macenski <[email protected]> * Fix backport error Signed-off-by: SteveMacenski <[email protected]> * update Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Abhishekh Reddy <[email protected]>

* Jazzy Sync 7: May 29 2025 (ros-navigation#5211) * Dynamic param patterns (ros-navigation#4971) * 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]> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (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]> * [CostmapTopicCollisionChecker] Alternative constructor with footprint 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]> * Merged Fix navfn_planner from humble PR ros-navigation#5087 (ros-navigation#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 * Update map_io library to use Eigen method for faster map loading (ros-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]> * Precompute yaw trigonometric values in smac planner (ros-navigation#5109) Signed-off-by: mini-1235 <[email protected]> * removing the start navigation message in the paused state from rviz buttons (ros-navigation#5137) Signed-off-by: Pradheep <[email protected]> * Show error if inflation radius is smaller than circumscribed radius (ros-navigation#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <[email protected]> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Prevent MPPI controller from resetting speed limits upon goal execution. (ros-navigation#5165) Signed-off-by: Leander Stephen D'Souza <[email protected]> * Fixing docking server when already docked at the requeste ddock (ros-navigation#5171) Signed-off-by: Steve Macenski <[email protected]> * Adding parameter util to node utils (ros-navigation#5154) * Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <[email protected]> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <[email protected]> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <[email protected]> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <[email protected]> * Fixing codecove test Signed-off-by: Marco Bassa <[email protected]> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <[email protected]> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <[email protected]> --------- Signed-off-by: Marco Bassa <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * added config for laserscan in lb-sim (ros-navigation#5174) * added config for laserscan in lb-sim Signed-off-by: RamanaBotta <[email protected]> * fixing ament_flake8 errors Signed-off-by: RamanaBotta <[email protected]> * review: use_inf is default:true and added parameters on readme ros-navigation#4992 Signed-off-by: RamanaBotta <[email protected]> * refactor: meaningfull value for scan_angle_increment Signed-off-by: RamanaBotta <[email protected]> --------- Signed-off-by: RamanaBotta <[email protected]> Co-authored-by: RamanaBotta <[email protected]> * Publish planned footprints after smoothing (ros-navigation#5155) * Publish planned footprints after smoothing Signed-off-by: Tony Najjar <[email protected]> * Revert "Publish planned footprints after smoothing" This reverts commit c9b349a. * Add smoothed footprints publishing Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice Signed-off-by: Tony Najjar <[email protected]> * address PR comments Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * fix build error Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * fixing deprecation warning (ros-navigation#5182) Signed-off-by: Steve Macenski <[email protected]> * Adding missing dep to loopback sim (ros-navigation#5204) * Adding missing dep Signed-off-by: Steve Macenski <[email protected]> * typo Signed-off-by: Steve Macenski <[email protected]> * updating fix Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Adding parameter warn_when_defaulting_parameters to control default parameter warnings (ros-navigation#5189) * Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag Signed-off-by: Marco Bassa <[email protected]> * Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing Signed-off-by: Marco Bassa <[email protected]> * Using default false declaration instead of declare_or_get in param util Signed-off-by: Marco Bassa <[email protected]> --------- Signed-off-by: Marco Bassa <[email protected]> * bumping to 1.3.7 for release Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Vignesh T <[email protected]> Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Marco Bassa <[email protected]> Signed-off-by: RamanaBotta <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Sandeep Dutta <[email protected]> Co-authored-by: Vignesh T <[email protected]> Co-authored-by: mini-1235 <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: Marco Bassa <[email protected]> Co-authored-by: Raman <[email protected]> Co-authored-by: RamanaBotta <[email protected]> * Fixing Jazzy CI via new ROS 2 keys Signed-off-by: Steve Macenski <[email protected]> * Revert "Fix Ci from key signing (ros-navigation#5220)" (backport ros-navigation#5237) (ros-navigation#5239) * Revert "Fix Ci from key signing (ros-navigation#5220)" (ros-navigation#5237) * Revert "Fix Ci from key signing (ros-navigation#5220)" This reverts the changes to the Dockerfile done in 1345c22. Signed-off-by: Nils-Christian Iseke <[email protected]> * Update Cache Version Signed-off-by: Nils-Christian Iseke <[email protected]> --------- Signed-off-by: Nils-Christian Iseke <[email protected]> (cherry picked from commit 7f561b0) # Conflicts: # .circleci/config.yml * Update config.yml Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Backport bidirectional settings ros-navigation#4954 (ros-navigation#5260) Signed-off-by: Tatsuro Sakaguchi <[email protected]> * Add namespace support for rviz costmap cost tool (ros-navigation#5271) Signed-off-by: Maurice-1235 <[email protected]> * Use fixed thresholds for Trinary yaml (ros-navigation#5278) (ros-navigation#5286) (cherry picked from commit 829e683) Signed-off-by: Adi Vardi <[email protected]> Co-authored-by: Adi Vardi <[email protected]> * Clear costmap around pose jazzy (backport ros-navigation#5309) (ros-navigation#5318) * Adding clear costmap around pose service option (ros-navigation#5309) (cherry picked from commit c0bf67e Signed-off-by: dw25628 <[email protected]> * Linting Signed-off-by: dw25628 <[email protected]> * Removed __init__.py that came in with cherry pick Signed-off-by: dw25628 <[email protected]> --------- Signed-off-by: dw25628 <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Backport "Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In" (ros-navigation#5378) * Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In (ros-navigation#5187) * Adding toggle option of keepout zone Signed-off-by: Steve Macenski <[email protected]> * Default off Signed-off-by: Steve Macenski <[email protected]> * Join conditions Signed-off-by: Steve Macenski <[email protected]> * spell check Signed-off-by: Steve Macenski <[email protected]> * copilot suggestions Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * Update keepout_filter.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> * Revert bringup params changes Signed-off-by: Maurice <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Maurice <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> * Adding minimum range to PC2 in collision monitor (backport ros-navigation#5392) (ros-navigation#5393) * Adding minimum range to PC2 in collision monitor (ros-navigation#5392) Signed-off-by: SteveMacenski <[email protected]> (cherry picked from commit 40a0451) # Conflicts: # nav2_collision_monitor/src/pointcloud.cpp * Update pointcloud.cpp Signed-off-by: Steve Macenski <[email protected]> * Update pointcloud.cpp Signed-off-by: Steve Macenski <[email protected]> * Update sources_test.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Construct TF listeners passing nodes, spinning on separate thread (backport ros-navigation#5406) (ros-navigation#5431) * Construct TF listeners passing nodes, spinning on separate thread (ros-navigation#5406) * Construct TF listeners passing nodes, spinning on separate thread Signed-off-by: Patrick Roncagliolo <[email protected]> * (tentative) pin down of the impacting change Signed-off-by: Patrick Roncagliolo <[email protected]> --------- Signed-off-by: Patrick Roncagliolo <[email protected]> (cherry picked from commit 1468484) # Conflicts: # nav2_route/src/route_server.cpp * Delete nav2_route/src/route_server.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Patrick Roncagliolo <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix lifecycle manager deadlock during shutdown (ros-navigation#5448) Signed-off-by: Jacob Visser <[email protected]> * fix 5456 (ros-navigation#5458) Signed-off-by: David G <[email protected]> * backport the fix for setting binary_state as the default (ros-navigation#5459) Signed-off-by: olaghattas <[email protected]> * Sync Jazzy Aug 19, 2025 1.4.1 (ros-navigation#5469) * Conserve curvature with LIMIT action (ros-navigation#5255) * Conserve curvature with LIMIT action Signed-off-by: Tony Najjar <[email protected]> * fix format Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Adding epsilon for voxel_layer precision loss (ros-navigation#5314) * Adding epsilon for voxel_layer precision loss Signed-off-by: bhx <[email protected]> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: bhx <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * fix: correct ThroughActionResult type alias in would_a_planner_recovery_help_condition (ros-navigation#5326) The ThroughActionResult type alias was incorrectly referencing Action::Result instead of ThroughAction::Result, causing the condition to not work properly for ComputePathThroughPoses actions. Fixes ros-navigation#5324 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Adding slow down at target heading to RPP Controller (ros-navigation#5361) * Adding slow down at target heading to RPP Signed-off-by: SteveMacenski <[email protected]> * Update test_regulated_pp.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * Eexception rethrow in dockRobot method (ros-navigation#5364) Signed-off-by: Alberto Tudela <[email protected]> * Add global min obstacle height in voxel layer (ros-navigation#5389) * Add min obstacle height in voxel layer Signed-off-by: mini-1235 <[email protected]> * Fix linting Signed-off-by: Maurice <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice <[email protected]> * [DEX] Enforce 3 digits precision (ros-navigation#5398) Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * [static_layer] limit comparison precision (ros-navigation#5405) * [DEX] limit comparison precision Signed-off-by: Guillaume Doisy <[email protected]> * EPSILON 1e-5 Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Smooth path even if goal pose is so much near to the robot (ros-navigation#5423) * Smooth path even if goal pose is so much near to the robot Signed-off-by: CihatAltiparmak <[email protected]> * Apply suggestions Signed-off-by: CihatAltiparmak <[email protected]> * Remove unnecessary diff Signed-off-by: CihatAltiparmak <[email protected]> --------- Signed-off-by: CihatAltiparmak <[email protected]> * Fix KeepoutFilter on the ARM architecture (ros-navigation#5436) Signed-off-by: Sushant Chavan <[email protected]> * Fix missing dependency (ros-navigation#5460) * bump to 1.3.8 for Jazzy release Aug 19, 2025 Signed-off-by: SteveMacenski <[email protected]> * load balance CI Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: bhx <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: CihatAltiparmak <[email protected]> Signed-off-by: Sushant Chavan <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: hutao <[email protected]> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: mini-1235 <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Cihat Kurtuluş Altıparmak <[email protected]> Co-authored-by: Sushant Chavan <[email protected]> Co-authored-by: Tim Clephas <[email protected]> * fix: Move SmootherParams declaration outside smooth_path conditional (ros-navigation#5473) (ros-navigation#5474) Fixes crash when dynamically changing smooth_path parameter from false to true. The issue occurred because SmootherParams were only declared when smooth_path was initially true, causing ParameterModifiedInCallbackException when trying to declare parameters within the dynamic parameter callback. Now SmootherParams are always declared, making them available for dynamic reconfiguration regardless of the initial smooth_path value. Fixes ros-navigation#5472 (cherry picked from commit 69a60df) Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Replace last pose if only orientation differs in Navfn (ros-navigation#5490) (ros-navigation#5492) (cherry picked from commit ff80727) Signed-off-by: mini-1235 <[email protected]> Co-authored-by: mini-1235 <[email protected]> * Manual Backport Route Server to Jazzy (ros-navigation#5517) * Manual backport of Route Server to Jazzy Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> * Fix backport error Signed-off-by: Steve Macenski <[email protected]> * lint Signed-off-by: Steve Macenski <[email protected]> * Adding in Nav2 BT + Launch Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Jazzy Sync Sept 19, 2025 1.3.9 (ros-navigation#5540) * Fix dynamic param SmacPlannerLattice (ros-navigation#5478) * Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <[email protected]> * remove comment Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Fix duplicate poses with computePlanThroughPoses (ros-navigation#5488) * fix-duplicate-poses Signed-off-by: Tony Najjar <[email protected]> * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix seg fault (ros-navigation#5501) * Fix segmentation fault Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Add a service for enabling/disabling the collision monitor (ros-navigation#5493) * Added std_srvs package to dependencies Signed-off-by: Abhishekh Reddy <[email protected]> * Declared service and callback for enabling/disabling collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Declared a variable to store collision monitor enable/disable state Signed-off-by: Abhishekh Reddy <[email protected]> * Added initialization for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Implemented service callback for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Removed std_srvs package dependency Signed-off-by: Abhishekh Reddy <[email protected]> * Added Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced Trigger interface with the new Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Added default initialization for enabled flag Signed-off-by: Abhishekh Reddy <[email protected]> * Fixed toggle service name Signed-off-by: Abhishekh Reddy <[email protected]> * Updated toggle logic for collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Added a new line at the end of file Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Added enabled check for logging Signed-off-by: Abhishekh Reddy <[email protected]> * Added a unit test for toggle service Signed-off-by: Abhishekh Reddy <[email protected]> * Made the getter const and added a comment Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced rclcpp::spin_some Signed-off-by: Abhishekh Reddy <[email protected]> --------- Signed-off-by: Abhishekh Reddy <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * bump Jazzy to 1.3.9 for release Signed-off-by: SteveMacenski <[email protected]> * Change service type for collision monitor Signed-off-by: Steve Macenski <[email protected]> * Fix backport error Signed-off-by: SteveMacenski <[email protected]> * update Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Abhishekh Reddy <[email protected]> * Update package version from 1.1.0 to 1.3.9 Signed-off-by: Steve Macenski <[email protected]> * Add support for dynamically changing keepout zone (ros-navigation#5429) (ros-navigation#5542) * Add support for dynamically changing keepout zone * Linting * Revert binary and speed changes --------- (cherry picked from commit e690ef0) Signed-off-by: mini-1235 <[email protected]> Co-authored-by: mini-1235 <[email protected]> * Fix bad_weak_ptr in createBond() by using shared_ptr (backport ros-navigation#5341) (ros-navigation#5563) Signed-off-by: ymd-stella <[email protected]> * Fixed crash due to incorrect string construction (ros-navigation#5606) (ros-navigation#5613) (cherry picked from commit 48e7e06) Signed-off-by: Jay Herpin <[email protected]> Co-authored-by: Jay Herpin <[email protected]> * Add dependency on nav2_route in package.xml (ros-navigation#5639) Signed-off-by: Steve Macenski <[email protected]> * Revert ros-navigation#4971 in Jazzy (ros-navigation#5640) * Revert ros-navigation#4971 in Jazzy Signed-off-by: mini-1235 <[email protected]> * Add Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> * Bumping to 1.3.10 for urgent jazzy regression fixes (ros-navigation#5650) Signed-off-by: SteveMacenski <[email protected]> * Backporting custom height point field into Jazzy. (ros-navigation#5646) * Summary commit of all changes for adding custom pointcloud field height. (ros-navigation#5586) Doing this to clear out unsigned commits from history. Signed-off-by: Greg Anderson <[email protected]> * Corrected parameter declaration methods that aren't part of Jazzy. Fixed parameter typo from some manual merging in pointcloud.cpp Signed-off-by: Greg Anderson <[email protected]> --------- Signed-off-by: Greg Anderson <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Vignesh T <[email protected]> Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Marco Bassa <[email protected]> Signed-off-by: RamanaBotta <[email protected]> Signed-off-by: Tatsuro Sakaguchi <[email protected]> Signed-off-by: Maurice-1235 <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: dw25628 <[email protected]> Signed-off-by: Maurice <[email protected]> Signed-off-by: Jacob Visser <[email protected]> Signed-off-by: David G <[email protected]> Signed-off-by: olaghattas <[email protected]> Signed-off-by: bhx <[email protected]> Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: CihatAltiparmak <[email protected]> Signed-off-by: Sushant Chavan <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> Signed-off-by: ymd-stella <[email protected]> Signed-off-by: Jay Herpin <[email protected]> Signed-off-by: Greg Anderson <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Sandeep Dutta <[email protected]> Co-authored-by: Vignesh T <[email protected]> Co-authored-by: mini-1235 <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: Marco Bassa <[email protected]> Co-authored-by: Raman <[email protected]> Co-authored-by: RamanaBotta <[email protected]> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Tatsuro Sakaguchi <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: dw25628 <[email protected]> Co-authored-by: Patrick Roncagliolo <[email protected]> Co-authored-by: cboostjvisser <[email protected]> Co-authored-by: DavidG-Develop <[email protected]> Co-authored-by: olaghattas <[email protected]> Co-authored-by: hutao <[email protected]> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: Cihat Kurtuluş Altıparmak <[email protected]> Co-authored-by: Sushant Chavan <[email protected]> Co-authored-by: Tim Clephas <[email protected]> Co-authored-by: Abhishekh Reddy <[email protected]> Co-authored-by: ymd-stella <[email protected]> Co-authored-by: Jay Herpin <[email protected]> Co-authored-by: Greg Anderson <[email protected]>

SteveMacenski requested changes Aug 27, 2025

View reviewed changes

Comment thread nav2_collision_monitor/src/collision_monitor_node.cpp Outdated

Comment thread nav2_collision_monitor/src/collision_monitor_node.cpp Outdated

Comment thread nav2_collision_monitor/src/collision_monitor_node.cpp

armgits force-pushed the collision-monitor-toggle-service branch 2 times, most recently from 978bc74 to 9a53a82 Compare September 5, 2025 19:34

armgits and others added 12 commits September 5, 2025 16:30

Added std_srvs package to dependencies

0f23d6f

Signed-off-by: Abhishekh Reddy <[email protected]>

Declared service and callback for enabling/disabling collision monitor

80a7b92

Signed-off-by: Abhishekh Reddy <[email protected]>

Declared a variable to store collision monitor enable/disable state

b88d552

Signed-off-by: Abhishekh Reddy <[email protected]>

Added initialization for collision monitor enable/disable service

e42f714

Signed-off-by: Abhishekh Reddy <[email protected]>

Implemented service callback for collision monitor enable/disable ser…

34b8881

…vice Signed-off-by: Abhishekh Reddy <[email protected]>

Removed std_srvs package dependency

a5e14c2

Signed-off-by: Abhishekh Reddy <[email protected]>

Added Toggle interface

2849992

Signed-off-by: Abhishekh Reddy <[email protected]>

Replaced Trigger interface with the new Toggle interface

3d98ebe

Signed-off-by: Abhishekh Reddy <[email protected]>

Added default initialization for enabled flag

cf75f2e

Signed-off-by: Abhishekh Reddy <[email protected]>

Fixed toggle service name

8cdaee1

Signed-off-by: Abhishekh Reddy <[email protected]>

Updated toggle logic for collision monitor

334ccd5

Signed-off-by: Abhishekh Reddy <[email protected]>

Added a new line at the end of file

4a6c7f4

Signed-off-by: Abhishekh Reddy <[email protected]>

armgits force-pushed the collision-monitor-toggle-service branch from 9a53a82 to 4a6c7f4 Compare September 5, 2025 20:32

SteveMacenski reviewed Sep 5, 2025

View reviewed changes

Comment thread nav2_collision_monitor/src/collision_monitor_node.cpp Outdated

Comment thread nav2_collision_monitor/src/collision_monitor_node.cpp Outdated

Replaced rclcpp::spin_some

aa11e09

Signed-off-by: Abhishekh Reddy <[email protected]>

armgits force-pushed the collision-monitor-toggle-service branch from d8cc774 to aa11e09 Compare September 19, 2025 19:58

Merge branch 'main' into collision-monitor-toggle-service

742833e

Signed-off-by: Abhishekh Reddy <[email protected]>

SteveMacenski merged commit c95673e into ros-navigation:main Sep 19, 2025
15 checks passed

DavidG-Develop mentioned this pull request Sep 24, 2025

Toggle collision manager docs ros-navigation/docs.nav2.org#780

Merged

SteveMacenski mentioned this pull request Sep 25, 2025

Add Collision Monitor Toggle Service as Simple Commander Python API #5551

Closed

armgits mentioned this pull request Sep 26, 2025

Add a parameter to set initial enabled state for the collision monitor #5554

Merged

8 tasks

DavidG-Develop mentioned this pull request Sep 28, 2025

Add toggle cm to simple commander API #5559

Merged

8 tasks

Conversation

armgits commented Aug 27, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Basic Info

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:

Uh oh!

SteveMacenski left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

DavidG-Develop commented Aug 28, 2025

Uh oh!

armgits commented Aug 28, 2025

Uh oh!

SteveMacenski commented Aug 28, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

SteveMacenski commented Sep 3, 2025

Uh oh!

armgits commented Sep 4, 2025

Uh oh!

SteveMacenski commented Sep 4, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

armgits commented Sep 5, 2025

Uh oh!

SteveMacenski commented Sep 5, 2025

Uh oh!

SteveMacenski commented Sep 5, 2025

Uh oh!

armgits commented Sep 5, 2025

Uh oh!

armgits commented Sep 5, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

codecov Bot commented Sep 5, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Codecov Report

Uh oh!

SteveMacenski commented Sep 5, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

SteveMacenski left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

DavidG-Develop commented Sep 18, 2025

Uh oh!

SteveMacenski commented Sep 18, 2025

Uh oh!

mergify Bot commented Sep 19, 2025

Uh oh!

armgits commented Sep 19, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

DavidG-Develop commented Sep 19, 2025

Uh oh!

armgits commented Sep 19, 2025

Uh oh!

SteveMacenski commented Sep 19, 2025

Uh oh!

armgits commented Sep 19, 2025

Uh oh!

SteveMacenski commented Sep 19, 2025

Uh oh!

armgits commented Sep 19, 2025

Uh oh!

Uh oh!

SteveMacenski commented Sep 19, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

keshavchintamani commented Sep 20, 2025

Uh oh!

armgits commented Aug 27, 2025 •

edited

Loading

SteveMacenski commented Aug 28, 2025 •

edited

Loading

SteveMacenski commented Sep 4, 2025 •

edited

Loading

armgits commented Sep 5, 2025 •

edited

Loading

codecov Bot commented Sep 5, 2025 •

edited

Loading

SteveMacenski commented Sep 5, 2025 •

edited

Loading

armgits commented Sep 19, 2025 •

edited

Loading

SteveMacenski commented Sep 19, 2025 •

edited

Loading