Pull latest changes from main

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v38\
+              - "<< parameters.key >>-v39\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v38\
+              - "<< parameters.key >>-v39\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v38\
+            key: "<< parameters.key >>-v39\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\

.github/workflows/build_main_against_distros.yml

@@ -17,7 +17,7 @@ jobs:
 
     steps:
     - name: Checkout repository
-      uses: actions/checkout@v4
+      uses: actions/checkout@v5
 
     - name: Set up Docker build context
       run: |

.github/workflows/claude.yml

@@ -34,7 +34,7 @@ jobs:
       id-token: write
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
         with:
           fetch-depth: 1
 

.github/workflows/lint.yml

@@ -13,7 +13,7 @@ jobs:
       matrix:
           linter: [xmllint, cpplint, uncrustify, pep257, flake8, mypy]
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v5
 
     - name: Install typeshed for mypy
       if: matrix.linter == 'mypy'
@@ -30,7 +30,7 @@ jobs:
     name: pre-commit
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
       - uses: actions/setup-python@v5
       - uses: pre-commit/action@v3.0.1
         env:

.github/workflows/update_ci_image.yaml

@@ -66,7 +66,7 @@ jobs:
       - check_ci_image
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
       - name: Login to Docker Hub

nav2_amcl/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_amcl)
 
 find_package(ament_cmake REQUIRED)

nav2_behavior_tree/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_behavior_tree CXX)
 
 find_package(ament_cmake REQUIRED)

nav2_behaviors/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_behaviors)
 
 find_package(ament_cmake REQUIRED)

nav2_bringup/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_bringup)
 
 find_package(ament_cmake REQUIRED)

nav2_bt_navigator/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_bt_navigator)
 
 find_package(ament_cmake REQUIRED)

nav2_collision_monitor/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_collision_monitor)
 
 find_package(ament_cmake REQUIRED)
@@ -17,6 +17,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(visualization_msgs REQUIRED)
 find_package(nav2_ros_common REQUIRED)
+find_package(point_cloud_transport REQUIRED)
 
 nav2_package()
 
@@ -54,6 +55,7 @@ target_link_libraries(${monitor_library_name} PUBLIC
   tf2::tf2
   tf2_ros::tf2_ros
   ${visualization_msgs_TARGETS}
+  point_cloud_transport::point_cloud_transport
 )
 target_link_libraries(${monitor_library_name} PRIVATE
   rclcpp_components::component
@@ -88,6 +90,7 @@ target_link_libraries(${detector_library_name} PUBLIC
   tf2_ros::tf2_ros
   tf2::tf2
   ${visualization_msgs_TARGETS}
+  point_cloud_transport::point_cloud_transport
 )
 target_link_libraries(${detector_library_name} PRIVATE
   rclcpp_components::component
@@ -169,6 +172,7 @@ ament_export_dependencies(
   tf2_ros
   nav2_ros_common
   visualization_msgs
+  point_cloud_transport
 )
 ament_export_targets(export_${PROJECT_NAME})
 

nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp

@@ -20,6 +20,7 @@
 #include <string>
 
 #include "sensor_msgs/msg/point_cloud2.hpp"
+#include "point_cloud_transport/point_cloud_transport.hpp"
 
 #include "nav2_collision_monitor/source.hpp"
 
@@ -98,7 +99,15 @@ class PointCloud : public Source
   // ----- Variables -----
 
   /// @brief PointCloud data subscriber
+  #if RCLCPP_VERSION_GTE(30, 0, 0)
+  std::shared_ptr<point_cloud_transport::PointCloudTransport> pct_;
+  point_cloud_transport::Subscriber data_sub_;
+  #else
   nav2::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr data_sub_;
+  #endif
+
+  // Transport type used for PointCloud messages (e.g., raw or compressed)
+  std::string transport_type_;
 
   // Minimum and maximum height of PointCloud projected to 2D space
   double min_height_, max_height_;

nav2_collision_monitor/package.xml

@@ -25,6 +25,8 @@
   <depend>tf2_ros</depend>
   <depend>visualization_msgs</depend>
   <depend>nav2_ros_common</depend>
+  <depend>point_cloud_transport</depend>
+  <depend>point_cloud_transport_plugins</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>

nav2_collision_monitor/params/collision_detector_params.yaml

@@ -23,6 +23,7 @@ collision_detector:
     pointcloud:
       type: "pointcloud"
       topic: "/intel_realsense_r200_depth/points"
+      transport_type: "raw" # Options: raw, zlib, draco, zstd
       min_height: 0.1
       max_height: 0.5
       enabled: True

nav2_collision_monitor/params/collision_monitor_params.yaml

@@ -96,6 +96,7 @@ collision_monitor:
     pointcloud:
       type: "pointcloud"
       topic: "/intel_realsense_r200_depth/points"
+      transport_type: "raw" # Options: raw, zlib, draco, zstd
       min_height: 0.1
       max_height: 0.5
       enabled: True

nav2_collision_monitor/src/pointcloud.cpp

@@ -45,7 +45,11 @@ PointCloud::PointCloud(
 PointCloud::~PointCloud()
 {
   RCLCPP_INFO(logger_, "[%s]: Destroying PointCloud", source_name_.c_str());
+  #if RCLCPP_VERSION_GTE(30, 0, 0)
+  data_sub_.shutdown();
+  #else
   data_sub_.reset();
+  #endif
 }
 
 void PointCloud::configure()
@@ -60,10 +64,20 @@ void PointCloud::configure()
 
   getParameters(source_topic);
 
+  #if RCLCPP_VERSION_GTE(30, 0, 0)
+  const point_cloud_transport::TransportHints hint(transport_type_);
+  pct_ = std::make_shared<point_cloud_transport::PointCloudTransport>(*node);
+  data_sub_ = pct_->subscribe(
+    source_topic, nav2::qos::SensorDataQoS(),
+    std::bind(&PointCloud::dataCallback, this, std::placeholders::_1),
+    {}, &hint
+  );
+  #else
   data_sub_ = node->create_subscription<sensor_msgs::msg::PointCloud2>(
     source_topic,
     std::bind(&PointCloud::dataCallback, this, std::placeholders::_1),
     nav2::qos::SensorDataQoS());
+  #endif
 
   // Add callback for dynamic parameters
   dyn_params_handler_ = node->add_on_set_parameters_callback(
@@ -131,6 +145,9 @@ void PointCloud::getParameters(std::string & source_topic)
   nav2::declare_parameter_if_not_declared(
     node, source_name_ + ".min_range", rclcpp::ParameterValue(0.0));
   min_range_ = node->get_parameter(source_name_ + ".min_range").as_double();
+  nav2::declare_parameter_if_not_declared(
+    node, source_name_ + ".transport_type", rclcpp::ParameterValue(std::string("raw")));
+  transport_type_ = node->get_parameter(source_name_ + ".transport_type").as_string();
 }
 
 void PointCloud::dataCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)

nav2_common/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 
 project(nav2_common NONE)
 

nav2_constrained_smoother/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_constrained_smoother)
 
 set(CMAKE_BUILD_TYPE Release) # significant Ceres optimization speedup

nav2_controller/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_controller)
 
 find_package(ament_cmake REQUIRED)

nav2_core/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_core)
 
 find_package(ament_cmake REQUIRED)

nav2_costmap_2d/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(nav2_costmap_2d)
 
 find_package(ament_cmake REQUIRED)
@@ -26,6 +26,7 @@ find_package(tf2_ros REQUIRED)
 find_package(nav2_ros_common REQUIRED)
 find_package(tf2_sensor_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
+find_package(point_cloud_transport REQUIRED)
 
 nav2_package()
 
@@ -88,6 +89,7 @@ target_link_libraries(layers PUBLIC
   nav2_ros_common::nav2_ros_common
   tf2::tf2
   nav2_ros_common::nav2_ros_common
+  point_cloud_transport::point_cloud_transport
 )
 target_link_libraries(layers PRIVATE
   pluginlib::pluginlib
@@ -222,6 +224,7 @@ ament_export_dependencies(
   tf2_ros
   tf2_sensor_msgs
   nav2_ros_common
+  point_cloud_transport
 )
 pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml)
 ament_package()

nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/costmap_filter.hpp

@@ -99,7 +99,7 @@ class CostmapFilter : public Layer
    */
   void updateBounds(
     double robot_x, double robot_y, double robot_yaw,
-    double * min_x, double * min_y, double * max_x, double * max_y) final;
+    double * min_x, double * min_y, double * max_x, double * max_y) override;
 
   /**
    * @brief Update the costs in the master costmap in the window

nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/keepout_filter.hpp

@@ -68,6 +68,20 @@ class KeepoutFilter : public CostmapFilter
   void initializeFilter(
     const std::string & filter_info_topic);
 
+  /**
+   * @brief Update the bounds of the master costmap by this layer's update dimensions
+   * @param robot_x X pose of robot
+   * @param robot_y Y pose of robot
+   * @param robot_yaw Robot orientation
+   * @param min_x X min map coord of the window to update
+   * @param min_y Y min map coord of the window to update
+   * @param max_x X max map coord of the window to update
+   * @param max_y Y max map coord of the window to update
+   */
+  void updateBounds(
+    double robot_x, double robot_y, double robot_yaw,
+    double * min_x, double * min_y, double * max_x, double * max_y) override;
+
   /**
    * @brief Process the keepout layer at the current pose / bounds / grid
    */
@@ -106,8 +120,15 @@ class KeepoutFilter : public CostmapFilter
   bool override_lethal_cost_{false};  // If true, lethal cost will be overridden
   unsigned char lethal_override_cost_{252};  // Value to override lethal cost with
   bool last_pose_lethal_{false};  // If true, last pose was lethal
-  unsigned int lethal_state_update_min_x_{999999u}, lethal_state_update_min_y_{999999u};
-  unsigned int lethal_state_update_max_x_{0u}, lethal_state_update_max_y_{0u};
+  bool is_pose_lethal_{false};
+  double lethal_state_update_min_x_, lethal_state_update_min_y_;
+  double lethal_state_update_max_x_, lethal_state_update_max_y_;
+
+  unsigned int x_{0};
+  unsigned int y_{0};
+  unsigned int width_{0};
+  unsigned int height_{0};
+  bool has_updated_data_{false};
 };
 
 }  // namespace nav2_costmap_2d

nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp

@@ -51,6 +51,7 @@
 #pragma GCC diagnostic pop
 
 #include "message_filters/subscriber.hpp"
+#include "point_cloud_transport/subscriber_filter.hpp"
 
 #include "nav_msgs/msg/occupancy_grid.hpp"
 #include "sensor_msgs/msg/laser_scan.hpp"

nav2_costmap_2d/package.xml

@@ -42,6 +42,8 @@
   <depend>tf2_sensor_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>nav2_ros_common</depend>
+  <depend>point_cloud_transport</depend>
+  <depend>point_cloud_transport_plugins</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>

nav2_costmap_2d/plugins/costmap_filters/costmap_filter.cpp

@@ -222,7 +222,7 @@ unsigned char CostmapFilter::getMaskCost(
 {
   const unsigned int index = my * filter_mask->info.width + mx;
 
-  const char data = filter_mask->data[index];
+  const signed char data = filter_mask->data[index];
   if (data == nav2_util::OCC_GRID_UNKNOWN) {
     return NO_INFORMATION;
   } else {