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SteveMacenski merged 4 commits into from
Feb 17, 2026
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bt_log_idle_transitions docs #875

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12 changes: 12 additions & 0 deletions configuration/packages/configuring-bt-navigator.rst
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Expand Up @@ -68,6 +68,17 @@ Parameters
Description
Always load the requested behavior tree XML description, regardless of the name of the currently active XML.

:bt_log_idle_transitions:

====== =======
Type Default
------ -------
bool true
====== =======

Description
Whether to log idle (no state change) transitions in the behavior tree to the ``/behavior_tree_log`` topic and console output. When ``false``, only state changes are logged, reducing topic and console noise. When ``true`` (default), all tick transitions including idle ones are published.

:plugin_lib_names:

============== ==========================================================
Expand Down Expand Up @@ -424,6 +435,7 @@ Example
default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
always_reload_bt_xml: false
bt_log_idle_transitions: true
goal_blackboard_id: goal
goals_blackboard_id: goals
path_blackboard_id: path
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5 changes: 5 additions & 0 deletions migration/Kilted.rst
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Expand Up @@ -803,3 +803,8 @@ Add support for switching between SMAC planners
-----------------------------------------------

Prior to `PR 5840 <https://github.com/ros-navigation/navigation2/pull/5840>`_, switching between SMAC planners at runtime was not supported due to static variables in the SMAC planner implementations causing conflicts when multiple instances were created. The PR addressed this issue by refactoring the SMAC planner code to eliminate the use of static variables, allowing multiple instances of different SMAC planners to coexist without conflicts.

New bt_log_idle_transitions parameter in bt_navigator
-----------------------------------------------------

In `PR 5963 <https://github.com/ros-navigation/navigation2/pull/5963>`_, A new ``bt_log_idle_transitions`` parameter has been added to the BT navigator. When set to ``true`` (default), idle (no state change) transitions in the behavior tree are published to the ``/behavior_tree_log`` topic and console output. When ``false``, only state changes are logged, reducing topic and console noise. This is useful for debugging behavior tree execution without being overwhelmed by repetitive idle tick messages.
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