[RPP] Prevent collision check premature termination by EricoMeger · Pull Request #5598 · ros-navigation/navigation2

EricoMeger · 2025-10-10T18:31:50Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5595
Primary OS tested on	Ubuntu 24.04
Robotic platform tested on	Physical Robot (differential-drive)
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

Fixes a bug in RPP where the robot would "creep" forward after stopping for an obstacle if min_lookahead was set lower than min_distance_to_obstacle
Change isCollisionImminent logic to always cover at least up to min_distance_to_obstacle, even when carrot_dist shrinks.

Description of documentation updates required from your changes

None

Description of how this change was tested

Tested for a week on a physical differential-drive robot using a 270-degree LiDAR in a real-world environment. The tests included various routes with both static and dynamic obstacles placed in the robot's path. No negative side effects or degradation in general navigation behavior were observed.

Future work that may be required in bullet points

I don't like to create a entire new variable just that it receives carrot_dist if min_distance_to_obstacle is unused, but I can't think of a better way to do that. I'm open to suggestions.

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-*.

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

SteveMacenski

Just a nit for wording, LGTM. Check out the CI issues, it looksl ike you have linting violations that need to be resolved before merge

@doisyg please approve as well

Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]>

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

EricoMeger · 2025-10-10T22:18:58Z

Just updated the title to add the [RPP] prefix, to make the PR more self-explanatory

mergify · 2025-10-10T22:47:06Z

@EricoMeger, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mini-1235 · 2025-10-15T12:51:48Z

When testing #5446, I noticed that I am unable to navigate with RPP after merging this PR. From the log, it says that

[WARN 1760532493.169995588] [controller_server]: RegulatedPurePursuitController detected collision ahead! (computeAndPublishVelocity() at /root/nav2_ws/src/navigation2/nav2_controller/src/controller_server.cpp:659)

My parameters (mostly copied from docs.nav2.org):

FollowPath:
      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
      desired_linear_vel: 0.6
      lookahead_dist: 0.6
      min_lookahead_dist: 0.3
      max_lookahead_dist: 0.9
      lookahead_time: 1.5
      rotate_to_heading_angular_vel: 1.8
      use_velocity_scaled_lookahead_dist: false
      min_approach_linear_velocity: 0.05
      approach_velocity_scaling_dist: 0.6
      use_collision_detection: true
      max_allowed_time_to_collision_up_to_carrot: 1.0
      use_regulated_linear_velocity_scaling: true
      use_fixed_curvature_lookahead: true
      curvature_lookahead_dist: 0.25
      use_cost_regulated_linear_velocity_scaling: false
      cost_scaling_dist: 0.3
      cost_scaling_gain: 1.0
      regulated_linear_scaling_min_radius: 0.9
      regulated_linear_scaling_min_speed: 0.25
      use_rotate_to_heading: false
      allow_reversing: true
      rotate_to_heading_min_angle: 0.785
      max_angular_accel: 3.2
      min_distance_to_obstacle: 1.5
      stateful: true

If I change the min_distance_to_obstacle to 1.0 or 0.0, it works properly. I believe that's why CI is passing, any idea @EricoMeger @SteveMacenski?

EricoMeger · 2025-10-15T13:47:50Z

Hmmm, ok. Thanks for the report @mini-1235

I think I know what's happening: I would assume this is because now RPP will always check up to 1.5m (your min_distance_to_obstacle), while before this PR, it would only check up to 0.9m (your max_lookahead_dist)

Annnd, I have to admit, max_lookahead_dist was something I didn't consider in the implementation. I focused so much on the min_lookahead_dist that I forgot entirely about it.

Should a condition be made that min_distance_to_obstacle must be < max_lookahead_dist? or should we just consider the greater of min_lookahead and min_distance, but cap it at max_lookahead?

What do you guys think? @mini-1235 @SteveMacenski

SteveMacenski · 2025-10-15T18:51:03Z

Should a condition be made that min_distance_to_obstacle must be < max_lookahead_dist? or should we just consider the greater of min_lookahead and min_distance, but cap it at max_lookahead?

That seems sane to me but I want to hear from @doisyg as the author of that in case he needed that to be further away. @EricoMeger can you open that PR ASAP to unbreak main? Maybe also log a warning if that condition is violated in the parameter handler so folks know its an error case?

doisyg · 2025-10-15T19:15:02Z

Should a condition be made that min_distance_to_obstacle must be < max_lookahead_dist? or should we just consider the greater of min_lookahead and min_distance, but cap it at max_lookahead?

That seems sane to me but I want to hear from @doisyg as the author of that in case he needed that to be further away. @EricoMeger can you open that PR ASAP to unbreak main? Maybe also log a warning if that condition is violated in the parameter handler so folks know its an error case?

Sorry for the delay.

min_distance_to_obstacle must be < max_lookahead_dist?

This seems fine and what originally expected :

navigation2/nav2_regulated_pure_pursuit_controller/README.md

Line 94 in 01580bd

    
           | `min_distance_to_obstacle` | The shortest distance at which the robot is allowed to be from an obstacle along its trajectory. Set <= 0.0 to disable. It is limited to maximum distance of lookahead distance selected. |

I skimmed through the comments, but if you tag me in the PR to fix main I can check fully and test quickly.

EricoMeger · 2025-10-16T01:40:21Z

Opened #5616

) * prevent collision check premature termination Signed-off-by: EricoMeger <[email protected]> * improve comment wording Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]> * fix linting error Signed-off-by: EricoMeger <[email protected]> --------- Signed-off-by: EricoMeger <[email protected]> Signed-off-by: Érico Meger <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

This reverts commit 6bc74e5.

…5620) This reverts commit 6bc74e5.

) * prevent collision check premature termination Signed-off-by: EricoMeger <[email protected]> * improve comment wording Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]> * fix linting error Signed-off-by: EricoMeger <[email protected]> --------- Signed-off-by: EricoMeger <[email protected]> Signed-off-by: Érico Meger <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Greg Anderson <[email protected]>

…gation#5598)" (ros-navigation#5620) This reverts commit 6bc74e5. Signed-off-by: Greg Anderson <[email protected]>

Squashed commit of the following: commit bf2e64c Author: Greg Anderson <[email protected]> Date: Tue Oct 21 14:41:42 2025 -0500 Add declaration for use_global_height parameter into add sources function. Signed-off-by: Greg Anderson <[email protected]> commit 8453632 Author: Greg Anderson <[email protected]> Date: Tue Oct 21 08:28:19 2025 -0500 Adjusted asserts in third test case for consistent results. Signed-off-by: Greg Anderson <[email protected]> commit 725f054 Author: Greg Anderson <[email protected]> Date: Mon Oct 20 21:04:51 2025 -0500 Add additional case for testing pointcloud with no height field. Signed-off-by: Greg Anderson <[email protected]> commit 2bb49aa Merge: b02713a cdccfe1 Author: Greg Anderson <[email protected]> Date: Mon Oct 20 18:01:24 2025 -0500 Merge branch 'main' into feat/CustomCollisionPointFields Signed-off-by: Greg Anderson <[email protected]> commit b02713a Author: Greg Anderson <[email protected]> Date: Mon Oct 20 17:53:36 2025 -0500 Cleaned up some un-needed parameter changes. commit 21eef62 Author: Greg Anderson <[email protected]> Date: Mon Oct 20 17:49:16 2025 -0500 Added test case for using global height parameter. commit cdccfe1 Author: Sushant Chavan <[email protected]> Date: Mon Oct 20 23:49:25 2025 +0200 Publish `is_active` status from LifecycleManager (ros-navigation#5627) * Publish `is_active` status from LifecycleManager Signed-off-by: Sushant Chavan <[email protected]> * Update nav2_lifecycle_manager/src/lifecycle_manager.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Sushant Chavan <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit b35a4b5 Author: Leander Stephen D'Souza <[email protected]> Date: Mon Oct 20 22:04:17 2025 +0100 Use the new declare_or_get_parameter API for nav2_controller. (ros-navigation#5624) * Migrate majority of parameter declarations to use the new parameter API. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Migrate controller_server.cpp to use declare_or_get_parameter API. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 62ebc54 Author: Steve Macenski <[email protected]> Date: Thu Oct 16 07:59:10 2025 -0700 Revert "[RPP] Prevent collision check premature termination (ros-navigation#5598)" (ros-navigation#5620) This reverts commit 6bc74e5. commit 01580bd Author: mini-1235 <[email protected]> Date: Thu Oct 16 02:02:29 2025 +0700 Redesign graceful controller dynamic parameters patterns (ros-navigation#5600) Signed-off-by: mini-1235 <[email protected]> commit b91eda5 Author: Abhishekh Reddy <[email protected]> Date: Tue Oct 14 14:47:14 2025 -0400 Check if the tolerance circle is feasible when validating goals for path planning. (ros-navigation#5593) * Implemented goal tolerance validity check Signed-off-by: Abhishekh Reddy <[email protected]> * Fixed description for getCoords function Signed-off-by: Abhishekh Reddy <[email protected]> * Added a test with lower tolerance for zone validity checking Signed-off-by: Abhishekh Reddy <[email protected]> * Updated tolerance check function implementation Signed-off-by: Abhishekh Reddy <[email protected]> * Updated isZoneValid function Signed-off-by: Abhishekh Reddy <[email protected]> * Updated isZoneValid function Signed-off-by: Abhishekh Reddy <[email protected]> --------- Signed-off-by: Abhishekh Reddy <[email protected]> commit 48e7e06 Author: Jay Herpin <[email protected]> Date: Tue Oct 14 12:45:59 2025 -0500 Fixed crash due to incorrect string construction (ros-navigation#5606) Signed-off-by: Jay Herpin <[email protected]> commit 7d37466 Author: Leander Stephen D'Souza <[email protected]> Date: Tue Oct 14 15:50:30 2025 +0100 Use the new parameter API in nav2_constrained_smoother. (ros-navigation#5608) Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 3935038 Author: Steve Macenski <[email protected]> Date: Tue Oct 14 07:48:32 2025 -0700 Fixing CI Cache Misalignment causing builds to fail (ros-navigation#5607) * Aligning caches Signed-off-by: SteveMacenski <[email protected]> * Trigger linting (hopefully) Signed-off-by: SteveMacenski <[email protected]> * Fix action-ros-lint version format in lint.yml Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]> commit 568174c Author: Leander Stephen D'Souza <[email protected]> Date: Tue Oct 14 01:41:25 2025 +0100 Update new_declare_or_get_parameter API for collision_monitor and map_server (ros-navigation#5588) * Use the new_declare_or_get_parameter API for nav2_collision_monitor. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed redundant set_parameter calls when preceeded by declare_parameter. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Use declare_or_get_parameter without a default value. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Simplified definitions that required to determine parameter type from template. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed self-definition of node_utils.hpp. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Address PR feedback: Remove unnecessary linebreaks and improve param docstring. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 6bc74e5 Author: Érico Meger <[email protected]> Date: Mon Oct 13 19:17:23 2025 -0300 [RPP] Prevent collision check premature termination (ros-navigation#5598) * prevent collision check premature termination Signed-off-by: EricoMeger <[email protected]> * improve comment wording Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]> * fix linting error Signed-off-by: EricoMeger <[email protected]> --------- Signed-off-by: EricoMeger <[email protected]> Signed-off-by: Érico Meger <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit 4d28c13 Author: silanus <[email protected]> Date: Fri Oct 10 20:42:45 2025 +0300 Path distance feature (ros-navigation#5387) * geometry utils Signed-off-by: silanus23 <[email protected]> * fixed geometry utils adding 2d Signed-off-by: silanus23 <[email protected]> * created path_utils Signed-off-by: silanus23 <[email protected]> * added tests Signed-off-by: silanus23 <[email protected]> * minor changes in tests Signed-off-by: silanus23 <[email protected]> * lint issue Signed-off-by: silanus23 <[email protected]> * fixed reviews Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * Last fixes. Signed-off-by: silanus23 <[email protected]> * Last fixes cpp. Signed-off-by: silanus23 <[email protected]> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: silanus23 <[email protected]> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: silanus23 <[email protected]> * Update nav2_util/test/test_path_utils.cpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: silanus23 <[email protected]> * Frame check fix Signed-off-by: silanus23 <[email protected]> * msg Signed-off-by: silanus23 <[email protected]> * controller server publisher Signed-off-by: silanus23 <[email protected]> * controller server publisher fix Signed-off-by: silanus23 <[email protected]> * cross_product Signed-off-by: silanus23 <[email protected]> * handled last_fixes Signed-off-by: silanus23 <[email protected]> * tracking error added to follow path side from side added to tracking error Signed-off-by: silanus23 <[email protected]> * arranged msgs Signed-off-by: silanus23 <[email protected]> * linting of msgs Signed-off-by: silanus23 <[email protected]> * last cpplint Signed-off-by: silanus23 <[email protected]> * frame check for distance_to_goal Signed-off-by: silanus23 <[email protected]> * fixes for follow_path Signed-off-by: silanus23 <[email protected]> * controller linting Signed-off-by: silanus23 <[email protected]> * changing tracking_error to tracking_error_feedback Signed-off-by: silanus23 <[email protected]> * adding remaining_path_length in tracking_error_feedback Signed-off-by: silanus23 <[email protected]> * Last fix Signed-off-by: silanus23 <[email protected]> * start_index_ Signed-off-by: silanus23 <[email protected]> * Name changes and optimizations in controller_server and nav2_util Signed-off-by: silanus23 <[email protected]> * Changing name to tracking_feedback Signed-off-by: silanus23 <[email protected]> * Documentation changes Signed-off-by: silanus23 <[email protected]> * Last lint Signed-off-by: silanus23 <[email protected]> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Last updates Signed-off-by: silanus23 <[email protected]> * update example_follow_path.py Signed-off-by: silanus23 <[email protected]> * update example_follow_path.py lint Signed-off-by: silanus23 <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/src/path_utils.cpp Signed-off-by: Steve Macenski <[email protected]> * ordering problem Signed-off-by: silanus23 <[email protected]> * added deactivate to tracking_feedback_pub_ Signed-off-by: silanus23 <[email protected]> * typo Signed-off-by: silanus23 <[email protected]> * end_pose transform Signed-off-by: silanus23 <[email protected]> * creating the member variable end_pose_global_ and deleting nav_2d_msgs Signed-off-by: silanus23 <[email protected]> * deleting unnecessary transform Signed-off-by: silanus23 <[email protected]> * typo in controller Signed-off-by: silanus23 <[email protected]> * readding remaining path Signed-off-by: silanus23 <[email protected]> * placement of transformation Signed-off-by: silanus23 <[email protected]> * unnecessary comments Signed-off-by: silanus23 <[email protected]> * tests added Signed-off-by: silanus23 <[email protected]> * Increased test coverage Signed-off-by: silanus23 <[email protected]> * Every part of the result is covered Signed-off-by: silanus23 <[email protected]> * Increasing out of bounds index Signed-off-by: silanus23 <[email protected]> * lint Signed-off-by: silanus23 <[email protected]> * add missing line to cmake Signed-off-by: silanus23 <[email protected]> * unnecessary test Signed-off-by: silanus23 <[email protected]> * unexptected styling and last functional change Signed-off-by: silanus23 <[email protected]> * simplifying the tranformation of end_pose Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: silanus23 <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Copilot <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit 04a3e22 Author: Steve Macenski <[email protected]> Date: Fri Oct 10 10:09:08 2025 -0700 Improve error message for missing robot footprint (ros-navigation#5597) Updated error message for footprint collision checking. Signed-off-by: Steve Macenski <[email protected]> commit ce6b439 Author: Alberto Tudela <[email protected]> Date: Fri Oct 10 00:12:57 2025 +0200 Following (ros-navigation#5565) * Following server Signed-off-by: Alberto Tudela <[email protected]> * feat: migrate to nav2_msgs for FollowObject action and remove opennav_following_msgs Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy test Signed-off-by: Alberto Tudela <[email protected]> * Move FollowObject and FollowObjectCancel action nodes from bt package Signed-off-by: Alberto Tudela <[email protected]> * Update package and circle Signed-off-by: Alberto Tudela <[email protected]> * feat: add FollowObject action support in robot navigator and fix mypy Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy issues Signed-off-by: Alberto Tudela <[email protected]> * feat: add follow_object action to bt_navigator parameters Signed-off-by: Alberto Tudela <[email protected]> * Update key and package Signed-off-by: Alberto Tudela <[email protected]> * Fix precommit Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy? Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy, round two Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> commit ed0d59f Author: Sakshay Mahna <[email protected]> Date: Thu Oct 9 03:39:30 2025 +0530 [Graceful Controller] Fix Incorrect Motion Target Heading output by controller (ros-navigation#5530) * Fix graceful controller lookahead bug Signed-off-by: Sakshay Mahna <[email protected]> * Shorten logic with goal_pose Signed-off-by: Sakshay Mahna <[email protected]> * Add Linear Interpolation Fix Signed-off-by: Sakshay Mahna <[email protected]> * Update const double and comments Signed-off-by: Sakshay Mahna <[email protected]> --------- Signed-off-by: Sakshay Mahna <[email protected]> commit 14660b4 Author: Vince Reda <[email protected]> Date: Wed Oct 8 17:14:57 2025 +0000 Fail PersistentSequence if input port is not set (ros-navigation#5589) * Fail if getInput fails Signed-off-by: redvinaa <[email protected]> * Add test with no input Signed-off-by: redvinaa <[email protected]> * Update error string Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Vince Reda <[email protected]> * Fix quotation marks Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> Signed-off-by: Vince Reda <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit aa2cdc5 Author: Greg Anderson <[email protected]> Date: Wed Oct 8 10:43:14 2025 -0500 Apply suggestions from code review Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Greg Anderson <[email protected]> commit 5636fc1 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 15:37:13 2025 -0500 Implementing Steve's suggestion for performance and code simplicity. Signed-off-by: Greg Anderson <[email protected]> commit b2fbb06 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 12:59:46 2025 -0500 Implemented additional changes for iterator feedback in PR. Signed-off-by: Greg Anderson <[email protected]> commit 1cdbc05 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 12:12:31 2025 -0500 Add return false for error state. Signed-off-by: Greg Anderson <[email protected]> commit 869b5a9 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 12:10:03 2025 -0500 Address PR formatting feedback. Remove run time error and replaced with log error. Signed-off-by: Greg Anderson <[email protected]> commit 11f04c7 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 10:55:18 2025 -0500 Added some pointcloud field checking based on run time error found when running tests. Signed-off-by: Greg Anderson <[email protected]> commit ca49b05 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 08:22:05 2025 -0500 Ran ament lint/style tools, cleaned up. Signed-off-by: Greg Anderson <[email protected]> commit 7e6ccc9 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 08:08:01 2025 -0500 Add use_global_height_ parameter to allow configuration of height checking by end users. Signed-off-by: Greg Anderson <[email protected]> commit 0c20df2 Author: DylanDeCoeyer-Quimesis <[email protected]> Date: Mon Oct 6 22:29:17 2025 +0200 nav2_smac_planner: make A* return closest path found in case of timeout (ros-navigation#5578) Until now, a path computation timeout would systematically lead to a nav2_core::PlannerTimedOut error, even though a path was found within the tolerance. This commit makes the A* return the best path found if it's within the tolerance. Signed-off-by: Dylan De Coeyer <[email protected]> commit f78bac5 Author: Leander Stephen D'Souza <[email protected]> Date: Mon Oct 6 20:16:30 2025 +0100 Use the new declare_or_get_parameter API for nav2_behaviors. (ros-navigation#5583) Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 269d480 Author: Leander Stephen D'Souza <[email protected]> Date: Mon Oct 6 20:13:52 2025 +0100 Improve type annotations for ament_mypy (ros-navigation#5575) * Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 5860a27 Author: Greg Anderson <[email protected]> Date: Mon Oct 6 12:41:04 2025 -0500 Create iterator for custom height field in pointcloud. Signed-off-by: Greg Anderson <[email protected]> Signed-off-by: Greg Anderson <[email protected]>

) * prevent collision check premature termination Signed-off-by: EricoMeger <[email protected]> * improve comment wording Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]> * fix linting error Signed-off-by: EricoMeger <[email protected]> --------- Signed-off-by: EricoMeger <[email protected]> Signed-off-by: Érico Meger <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Greg Anderson <[email protected]>

…gation#5598)" (ros-navigation#5620) This reverts commit 6bc74e5. Signed-off-by: Greg Anderson <[email protected]>

) * prevent collision check premature termination Signed-off-by: EricoMeger <[email protected]> * improve comment wording Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]> * fix linting error Signed-off-by: EricoMeger <[email protected]> --------- Signed-off-by: EricoMeger <[email protected]> Signed-off-by: Érico Meger <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

…gation#5598)" (ros-navigation#5620) This reverts commit 6bc74e5.

) * prevent collision check premature termination Signed-off-by: EricoMeger <[email protected]> * improve comment wording Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]> * fix linting error Signed-off-by: EricoMeger <[email protected]> --------- Signed-off-by: EricoMeger <[email protected]> Signed-off-by: Érico Meger <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Decwest <[email protected]>

…gation#5598)" (ros-navigation#5620) This reverts commit 6bc74e5. Signed-off-by: Decwest <[email protected]>

prevent collision check premature termination

7a1d7e6

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

SteveMacenski reviewed Oct 10, 2025

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Comment thread nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp Outdated

SteveMacenski reviewed Oct 10, 2025

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EricoMeger mentioned this pull request Oct 10, 2025

[RPP] min_distance_to_obstacle and velocity_scaled_lookahead dont work well together when min_lookahead < min_distance_to_obstacle #5595

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EricoMeger and others added 2 commits October 10, 2025 18:31

improve comment wording

53d7f96

Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]>

fix linting error

98b80b5

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

EricoMeger changed the title ~~prevent collision check premature termination~~ [RPP] Prevent collision check premature termination Oct 10, 2025

SteveMacenski approved these changes Oct 13, 2025

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SteveMacenski linked an issue Oct 13, 2025 that may be closed by this pull request

[RPP] min_distance_to_obstacle and velocity_scaled_lookahead dont work well together when min_lookahead < min_distance_to_obstacle #5595

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SteveMacenski merged commit 6bc74e5 into ros-navigation:main Oct 13, 2025
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EricoMeger mentioned this pull request Oct 16, 2025

[RPP] Cap collision check distance (regression from #5598) #5616

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8 tasks

SteveMacenski added a commit that referenced this pull request Oct 16, 2025

Revert "[RPP] Prevent collision check premature termination (#5598)"

b7931e6

This reverts commit 6bc74e5.

SteveMacenski mentioned this pull request Oct 16, 2025

Revert "[RPP] Prevent collision check premature termination" #5620

Merged

SteveMacenski added a commit that referenced this pull request Oct 16, 2025

Revert "[RPP] Prevent collision check premature termination (#5598)" (#…

62ebc54

…5620) This reverts commit 6bc74e5.

EricoMeger mentioned this pull request Nov 7, 2025

[RPP] Prevent collision check premature termination with scaled_lookahead #5677

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8 tasks

decwest pushed a commit to decwest/navigation2 that referenced this pull request Dec 10, 2025

Revert "[RPP] Prevent collision check premature termination (ros-navi…

f94795f

…gation#5598)" (ros-navigation#5620) This reverts commit 6bc74e5.

decwest pushed a commit to decwest/navigation2 that referenced this pull request Dec 11, 2025

Revert "[RPP] Prevent collision check premature termination (ros-navi…

6cae90c

…gation#5598)" (ros-navigation#5620) This reverts commit 6bc74e5. Signed-off-by: Decwest <[email protected]>

EricoMeger deleted the fix/rpp-collision-check-bound branch April 7, 2026 13:21

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[RPP] Prevent collision check premature termination#5598

[RPP] Prevent collision check premature termination#5598
SteveMacenski merged 3 commits intoros-navigation:mainfrom
EricoMeger:fix/rpp-collision-check-bound

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EricoMeger commented Oct 10, 2025

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:

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