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Merge latest changes#2

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SakshayMahna merged 26 commits intoSakshayMahna:mainfrom
ros-navigation:main
Aug 8, 2025
Merged

Merge latest changes#2
SakshayMahna merged 26 commits intoSakshayMahna:mainfrom
ros-navigation:main

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@SakshayMahna SakshayMahna commented Aug 8, 2025

Basic Info

Info Please fill out this column
Ticket(s) this addresses (add tickets here #1)
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software? (No; Yes and it is marked inline in the code)
Was this PR description generated by AI software? Out of respect for maintainers, AI for human-to-human communications are banned

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:

  • 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-*.

olaghattas and others added 26 commits July 22, 2025 09:11
@olaghattas @hello-ola @SteveMacenski
use binary_state rather than default state (#5370)
38c5f00 
* use binary_state rather than default state

Signed-off-by: hello-ola <oghattas@hello-robot.com>

* fix test

Signed-off-by: hello-ola <oghattas@hello-robot.com>

* fix test and comment

Signed-off-by: hello-ola <oghattas@hello-robot.com>

* linting fix

Signed-off-by: hello-ola <oghattas@hello-robot.com>

* remove changestate from resetFilter

Signed-off-by: hello-ola <oghattas@hello-robot.com>

* test fix by pub value in resetfilter method

Signed-off-by: hello-ola <oghattas@hello-robot.com>

* Update nav2_costmap_2d/plugins/costmap_filters/binary_filter.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: hello-ola <oghattas@hello-robot.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: hello-ola <oghattas@hello-robot.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
@leander-dsouza
Added fixes for ament_mypy (#5382)
d58606a 
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
@elsayedelsheikh
Use declare_or_get_param API (#5336)
335d415 
* initial thoughs

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

* Remove line

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

* Feedback

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

---------

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>
@mini-1235
Update message includes from .h to .hpp (#5383)
1dc2b58 
Signed-off-by: Maurice <mauricepurnawan@gmail.com>
@elsayedelsheikh
Use declare_or_get_param API (#5372)
3e4a7a3 
* Rebase

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

* Fix

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

* Feedback

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

---------

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>
@SteveMacenski
fixing loopback sim (#5384)
d91f0d5 
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
@SteveMacenski
Adding SWAGGER for Nav2 Route (#5385)
332bcab 
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
@DLu
Change David's Email Address (#5388)
6af5c23 
Signed-off-by: David V. Lu <davidvlu@gmail.com>
@mini-1235
Add global min obstacle height in voxel layer (#5389)
c59b9cb 
* Add min obstacle height in voxel layer

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Fix linting

Signed-off-by: Maurice <mauricepurnawan@gmail.com>

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Signed-off-by: Maurice <mauricepurnawan@gmail.com>
@SteveMacenski
Adding minimum range to PC2 in collision monitor (#5392)
40a0451 
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
@SteveMacenski
Reverting changes to update ci image workflow
4950581 
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
@SteveMacenski
CI Limits: Moving MPPI, Smac to secondary job (#5401)
a411a50 
* Moving MPPI, Smac to secondary job

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Use xlarge resource class

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Bump the cache

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* back to large

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* fix

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Add route server

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Shift more packages over

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

---------

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
@doisyg
[DEX] Enforce 3 digits precision (#5398)
f07bfc6 
Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
@doisyg
[static_layer] limit comparison precision (#5405)
fba0358 
* [DEX] limit comparison precision

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

* EPSILON 1e-5

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

---------

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
@SteveMacenski
Moving Nav2 package builds to the system build job to balance CI time…
c5531cb 
…s for CircleCI limits (#5409)

* Moving Nav2 behaviors to the system build job

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Adding Docking

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* moving more over to balance jobs

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

---------

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
@redvinaa
Add Pause and SequenceWithBlackboardMemory BT nodes (#5247)
8e3aee6 
* Add pause and seq with bb memory BT nodes

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Requested changes

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Lint

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Restructure pause, rename unpaused state to resumed

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Add PauseResumeController test

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Implement tests using xml_txt trees and dummy nodes

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Update include

Signed-off-by: redvinaa <redvinaa@gmail.com>

* One more fix because of sync

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Fix build

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Add tests

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Remove unreachable code

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Fix tests

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Update copyrights

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Fix size calc

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Rename to PersistentSequence

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Fix docstring

Signed-off-by: redvinaa <redvinaa@gmail.com>

---------

Signed-off-by: redvinaa <redvinaa@gmail.com>
@doisyg
corner case bin check (#5413)
e8b1811 
Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
@Sushant-Chavan
Add backward_ros dependency (#5404)
d93c129 
Signed-off-by: Sushant Chavan <gitecsvc@gmail.com>
@Ericsii
Add IndexType definition for Nanoflann KDTree in node_spatial_tree. (…
6330ee4 
…#5420)

* fix: Add KDTree type definition to include unsigned int for IndexType

Signed-off-by: Ericsii <ericfengx@foxmail.com>

* code format

Signed-off-by: Ericsii <ericfengx@foxmail.com>

---------

Signed-off-by: Ericsii <ericfengx@foxmail.com>
@mini-1235
Update tf2 ros headers (#5381)
c7884f5 
Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
@mini-1235
Move nav_2d_utils to nav2_util (#5414)
9cd0f9f 
* Move nav_2d_util to nav2_util

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Rename frame

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Replace OdomSubscriber with OdomSmoother

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Use transformPoseInTargetFrame in all controllers

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
@roncapat
Construct TF listeners passing nodes, spinning on separate thread (#5406
1468484 
)

* Construct TF listeners passing nodes, spinning on separate thread

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* (tentative) pin down of the impacting change

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

---------

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
@SteveMacenski
Adding new API docs website
ec2885d 
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
@CihatAltiparmak
Smooth path even if goal pose is so much near to the robot (#5423)
d590533 
* Smooth path even if goal pose is so much near to the robot

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Apply suggestions

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Remove unnecessary diff

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
@redvinaa
Make pause resume controller use nav2::LifecycleNode (#5427)
df3effd 
* Make pause resume controller use nav2::LifecycleNode

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Fix tests

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Use new nav2 create_service

Signed-off-by: redvinaa <redvinaa@gmail.com>

* Use attribues from parent, fix future wait, update docstring

Signed-off-by: redvinaa <redvinaa@gmail.com>

---------

Signed-off-by: redvinaa <redvinaa@gmail.com>
@SteveMacenski
Updating readme table for docs links (#5430)
773a8aa 
* Updating readme info

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Adding configuration guide

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Conciseness

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

---------

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
@SakshayMahna SakshayMahna merged commit a26850b into SakshayMahna:main Aug 8, 2025
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