Bt warning fix by Jad-ELHAJJ · Pull Request #5594 · ros-navigation/navigation2

Jad-ELHAJJ · 2025-10-09T08:05:46Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	N/A
Primary OS tested on	Ubuntu
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

A fix PR making sure that BTCPP warning would never be logged. The final logic will be:

If a user has conflicting IDs and specifies a file name, only the Behavior Tree (BT) from that file will be loaded. Other trees with the same ID will be ignored. Subtree functionality will fail if subtrees have conflicting IDs.
If a user has unique IDs (no conflicts) and specifies a file name, all BTs are loaded, and the subtree feature works correctly.
If a user has unique IDs and specifies a BT ID, all BTs are loaded, and the subtree feature works correctly.
If a user has conflicting IDs and specifies a BT ID, an error is reported, but the system still attempts to load the BT corresponding to the specified ID.

Description of how this change was tested

Tested all 4 conditions listed above on a behavior tree that includes subtrees.
Tested with unit tests.

PS: codecov might complain about not covered code in bt_action_server_impl.hpp, but I added unit test for all 4 conditions. So the mock loadBehaviorTree in test_behavior_tree_node.cpp will be covering the new changes.

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-*.

codecov · 2025-10-09T08:50:09Z

Codecov Report

❌ Patch coverage is 72.41379% with 8 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	72.41%	8 Missing ⚠️

Files with missing lines	Coverage Δ
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	`88.54% <72.41%> (-1.86%)`	⬇️

... and 7 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

Pull in main / rebase in order for CI to pass

Signed-off-by: Jad El Hajj <[email protected]>

…_impl.hpp Signed-off-by: Steve Macenski <[email protected]>

Signed-off-by: Jad El Hajj <[email protected]>

SteveMacenski

LGTM now. Did you test this again that it works for the cases we had issue with before?

…_impl.hpp Signed-off-by: Steve Macenski <[email protected]>

Signed-off-by: Jad El Hajj <[email protected]>

Jad-ELHAJJ · 2025-10-17T10:24:13Z

LGTM now. Did you test this again that it works for the cases we had issue with before?

yes, we wont get the btcpp warning anymore :)

SteveMacenski · 2025-10-18T01:23:34Z

+             RCLCPP_ERROR(logger_, "Skipping BT file %s (missing ID)", entry.path().c_str());
+             RCLCPP_WARN(logger_, "Skipping conflicting BT file %s (duplicate ID %s)",

-       tree_ = bt_->createTree(file_or_id, blackboard_);
+       // file_or_id is an ID: register all files, skipping conflicts
+       main_id = file_or_id;
+       register_all_bt_files();

Please cover these lines (these ones should be easy) for CI and I can merge, thanks!

Signed-off-by: Jad El Hajj <[email protected]>

Jad-ELHAJJ · 2025-10-21T11:13:13Z

+             RCLCPP_ERROR(logger_, "Skipping BT file %s (missing ID)", entry.path().c_str());
+             RCLCPP_WARN(logger_, "Skipping conflicting BT file %s (duplicate ID %s)",

-       tree_ = bt_->createTree(file_or_id, blackboard_);
+       // file_or_id is an ID: register all files, skipping conflicts
+       main_id = file_or_id;
+       register_all_bt_files();

Please cover these lines (these ones should be easy) for CI and I can merge, thanks!

All use cases are now covered :-)

SteveMacenski · 2025-10-21T18:31:37Z

@Jad-ELHAJJ please check out https://app.codecov.io/gh/ros-navigation/navigation2/pull/5594 there are lots of gaps still that this didn't cover. They mostly seems easy to solve with unit tests

Using is_bt_id to cover the else case
registered_ids.count(id) having duplicate names to trigger this continuance
id.empty() providing an ID-less tree
Optional: const std::exception & e if you can get it to throw some way, exercising this would be nice

Jad-ELHAJJ · 2025-10-22T07:04:58Z

@Jad-ELHAJJ please check out https://app.codecov.io/gh/ros-navigation/navigation2/pull/5594 there are lots of gaps still that this didn't cover. They mostly seems easy to solve with unit tests

Using is_bt_id to cover the else case

registered_ids.count(id) having duplicate names to trigger this continuance

id.empty() providing an ID-less tree

Optional: const std::exception & e if you can get it to throw some way, exercising this would be nice

Check test_behavior_tree_node.cpp

The ID specified (else branch) is covered by TestAllUniqueIDsWithIDSpecified and TestDuplicateIDsWithIDSpecified.
Duplicate ID detection is verified by TestDuplicateIDsWithFileSpecified and TestDuplicateIDsWithIDSpecified.
The missing ID case is handled by TestSkipFilesWithMissingID.

* fix the loadbehaviortree impl and its test Signed-off-by: Jad El Hajj <[email protected]> * pr refactoring and added tests Signed-off-by: Jad El Hajj <[email protected]> * simplify logic Signed-off-by: Jad El Hajj <[email protected]> * simplify loadbehaviortree Signed-off-by: Jad El Hajj <[email protected]> * unused Signed-off-by: Jad El Hajj <[email protected]> * removed st bb Signed-off-by: Jad El Hajj <[email protected]> * PR fix Signed-off-by: Jad El Hajj <[email protected]> * readd old code Signed-off-by: Jad El Hajj <[email protected]> * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Signed-off-by: Steve Macenski <[email protected]> * added try catch and comments Signed-off-by: Jad El Hajj <[email protected]> * lint Signed-off-by: Jad El Hajj <[email protected]> * PR fix Signed-off-by: Jad El Hajj <[email protected]> * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Signed-off-by: Steve Macenski <[email protected]> * Fix indentation Signed-off-by: Jad El Hajj <[email protected]> * Added test Signed-off-by: Jad El Hajj <[email protected]> --------- Signed-off-by: Jad El Hajj <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

* fix the loadbehaviortree impl and its test Signed-off-by: Jad El Hajj <[email protected]> * pr refactoring and added tests Signed-off-by: Jad El Hajj <[email protected]> * simplify logic Signed-off-by: Jad El Hajj <[email protected]> * simplify loadbehaviortree Signed-off-by: Jad El Hajj <[email protected]> * unused Signed-off-by: Jad El Hajj <[email protected]> * removed st bb Signed-off-by: Jad El Hajj <[email protected]> * PR fix Signed-off-by: Jad El Hajj <[email protected]> * readd old code Signed-off-by: Jad El Hajj <[email protected]> * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Signed-off-by: Steve Macenski <[email protected]> * added try catch and comments Signed-off-by: Jad El Hajj <[email protected]> * lint Signed-off-by: Jad El Hajj <[email protected]> * PR fix Signed-off-by: Jad El Hajj <[email protected]> * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Signed-off-by: Steve Macenski <[email protected]> * Fix indentation Signed-off-by: Jad El Hajj <[email protected]> * Added test Signed-off-by: Jad El Hajj <[email protected]> --------- Signed-off-by: Jad El Hajj <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Decwest <[email protected]>

This reverts commit 00dfd67. Signed-off-by: mini-1235 <[email protected]>

* Revert "Changing BT loading warning to be more clear (#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <[email protected]> * Revert "Bt warning fix (#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <[email protected]> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <[email protected]> * Revert unrelated changes Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Second prototype Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Only require main id when using filepath Signed-off-by: mini-1235 <[email protected]> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <[email protected]> * Add test to cover corner case Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice Alexander Purnawan <[email protected]>

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <[email protected]> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <[email protected]> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <[email protected]> * Revert unrelated changes Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Second prototype Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Only require main id when using filepath Signed-off-by: mini-1235 <[email protected]> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <[email protected]> * Add test to cover corner case Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice Alexander Purnawan <[email protected]> Signed-off-by: panav <[email protected]>

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <[email protected]> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <[email protected]> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <[email protected]> * Revert unrelated changes Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Second prototype Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Only require main id when using filepath Signed-off-by: mini-1235 <[email protected]> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <[email protected]> * Add test to cover corner case Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice Alexander Purnawan <[email protected]>

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <[email protected]> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <[email protected]> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <[email protected]> * Revert unrelated changes Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Second prototype Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Only require main id when using filepath Signed-off-by: mini-1235 <[email protected]> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <[email protected]> * Add test to cover corner case Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice Alexander Purnawan <[email protected]> Signed-off-by: panav <[email protected]>

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <[email protected]> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <[email protected]> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <[email protected]> * Revert unrelated changes Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Second prototype Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Only require main id when using filepath Signed-off-by: mini-1235 <[email protected]> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <[email protected]> * Add test to cover corner case Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice Alexander Purnawan <[email protected]> Signed-off-by: panav <[email protected]> Signed-off-by: Maurice <[email protected]>

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <[email protected]> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <[email protected]> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <[email protected]> * Revert unrelated changes Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Second prototype Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Apply suggestions Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Only require main id when using filepath Signed-off-by: mini-1235 <[email protected]> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <[email protected]> * Lint Signed-off-by: mini-1235 <[email protected]> * Fix test Signed-off-by: mini-1235 <[email protected]> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <[email protected]> * Add test to cover corner case Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice Alexander Purnawan <[email protected]>

Jad-ELHAJJ force-pushed the bt_warning_fix branch from 2be7daf to c48f8ee Compare October 9, 2025 08:20

Jad-ELHAJJ mentioned this pull request Oct 9, 2025

Fix/prevent warning when loading bt #5494

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SteveMacenski requested changes Oct 9, 2025

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Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

Jad-ELHAJJ requested a review from SteveMacenski October 13, 2025 06:59

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Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

Jad-ELHAJJ requested a review from SteveMacenski October 15, 2025 09:14

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Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

Jad-ELHAJJ and others added 12 commits October 16, 2025 11:12

fix the loadbehaviortree impl and its test

7d39e5c

Signed-off-by: Jad El Hajj <[email protected]>

pr refactoring and added tests

44aa015

Signed-off-by: Jad El Hajj <[email protected]>

simplify logic

5a985a3

Signed-off-by: Jad El Hajj <[email protected]>

simplify loadbehaviortree

c9b65af

Signed-off-by: Jad El Hajj <[email protected]>

unused

8898d1a

Signed-off-by: Jad El Hajj <[email protected]>

removed st bb

67678b0

Signed-off-by: Jad El Hajj <[email protected]>

PR fix

5b04a5b

Signed-off-by: Jad El Hajj <[email protected]>

readd old code

a40b6c5

Signed-off-by: Jad El Hajj <[email protected]>

Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server…

ba474c7

…_impl.hpp Signed-off-by: Steve Macenski <[email protected]>

added try catch and comments

67cc32a

Signed-off-by: Jad El Hajj <[email protected]>

lint

17a8413

Signed-off-by: Jad El Hajj <[email protected]>

PR fix

4a62ece

Signed-off-by: Jad El Hajj <[email protected]>

Jad-ELHAJJ force-pushed the bt_warning_fix branch from ef5192b to 4a62ece Compare October 16, 2025 08:12

Jad-ELHAJJ requested a review from SteveMacenski October 16, 2025 13:10

SteveMacenski requested changes Oct 16, 2025

View reviewed changes

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

SteveMacenski and others added 3 commits October 16, 2025 14:07

Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server…

d97feea

…_impl.hpp Signed-off-by: Steve Macenski <[email protected]>

Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server…

57d7e52

…_impl.hpp Signed-off-by: Steve Macenski <[email protected]>

Fix indentation

85cb362

Signed-off-by: Jad El Hajj <[email protected]>

Jad-ELHAJJ requested a review from SteveMacenski October 17, 2025 10:24

SteveMacenski approved these changes Oct 18, 2025

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Added test

ab7ef6b

Signed-off-by: Jad El Hajj <[email protected]>

Jad-ELHAJJ requested a review from SteveMacenski October 21, 2025 11:13

SteveMacenski merged commit 00dfd67 into ros-navigation:main Oct 22, 2025
14 of 15 checks passed

mini-1235 mentioned this pull request Jan 30, 2026

SubTrees in the same BT xml file lead to crash when a filepath is used #5923

Closed

adivardi mentioned this pull request Feb 3, 2026

Confusing warning error for duplicate ID BTs #5924

Closed

mini-1235 added a commit to mini-1235/navigation2 that referenced this pull request Feb 11, 2026

Revert "Bt warning fix (ros-navigation#5594)"

8f60e75

This reverts commit 00dfd67. Signed-off-by: mini-1235 <[email protected]>

mini-1235 added a commit to mini-1235/navigation2 that referenced this pull request Feb 11, 2026

Revert "Bt warning fix (ros-navigation#5594)"

dd5cd8e

This reverts commit 00dfd67. Signed-off-by: mini-1235 <[email protected]>

mini-1235 mentioned this pull request Feb 11, 2026

Fix error parsing subtree when loading from file path #5950

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Jad-ELHAJJ commented Oct 9, 2025

Basic Info

Description of contribution in a few bullet points

Description of how this change was tested

For Maintainers:

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