Basic Info

Description of contribution in a few bullet points

• Added a new input port max_lookahead_distance to the ValidatePath behavior tree node, allowing users to specify how far ahead along the path to validate. (-1 means validate the full path) * Introduced a new field max_lookahead_distance in the IsPathValid service request definition to support this feature
• Updated the ValidatePath node implementation to read and forward the max_lookahead_distance input to the service request
• Modified the path validation logic in the planner to only check poses up to the specified lookahead distance, improving efficiency when full path validation is not necessary

Description of documentation updates required from your changes

Description of how this change was tested

• I have a BT that replans when the path is no longer valid so I checked that it only replanned once the robot is at max_lookahead_distance from the obstacle and not earlier

Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.