Fix 3744

[nakai-omer]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3744
Primary OS tested on	Ubuntu
Robotic platform tested on	Custom robot

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Description of contribution in a few bullet points

• Make collision montior's default params fit better the nav2 stack by changing the output cmd topic from cmd_vel to cmd_vel_nav

Description of documentation updates required from your changes

Need to update https://navigation.ros.org/tutorials/docs/using_collision_monitor.html
Will do in a separate PR to the relevant repo.

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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

[nakai-omer]

I am not sure this is the correct fix, but anyone that will need to integrate collision monitor with nav2_bringup, which I presume is the recommended way to launch nav2, will have an easier time, with less config tweaking needed.
If most systems publish from controller server straight to cmd_vel (not like navigation_launch.py is configured), then this change isn't a good one.

[codecov]

Codecov Report

Patch coverage: 100.00% and project coverage change: +0.12% 🎉

Comparison is base (0976e63) 90.17% compared to head (336c035) 90.30%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3745      +/-   ##
==========================================
+ Coverage   90.17%   90.30%   +0.12%     
==========================================
  Files         413      413              
  Lines       18186    18186              
==========================================
+ Hits        16400    16423      +23     
+ Misses       1786     1763      -23     

Files Changed	Coverage Δ
...2_collision_monitor/src/collision_monitor_node.cpp	98.18% <100.00%> (ø)

... and 7 files with indirect coverage changes

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[nakai-omer]

Closing as solution was documentation only at the end
EDIT:
Reopened as using smoother is the default behavior, so there is a default config change

[nakai-omer]

Updated for using the smoother by default, just like the default flow in nav2_bringup

[AlexeyMerzlyakov]

Please check and sync-up nav2_collision_monitor/README.md with latest documentation changes. Otherwise, this change should be enough for CM node.

[SteveMacenski]

Yeah, make sure to pull in main

[SteveMacenski]

@nakai-omer rebase or pull in main and heed Alexey's comment #3745 (review)

I think we can merge then

[SteveMacenski]

@nakai-omer if you had a few minutes, we could finish this up!

[nakai-omer]

@AlexeyMerzlyakov Do you think the design image in nav2_collision_monitor/README.md should be updated to include the velocity smoother? Or it comes to show that cmd_vel is rooted in the controller server?

Secondly, there is a link to the configuration guide, that links to https://navigation.ros.org/configuration/packages/configuring-collision-monitor.html, you think it should link directly to https://navigation.ros.org/configuration/packages/collision_monitor/configuring-collision-monitor-node.html?

[SteveMacenski]

I think those are fine

[nakai-omer]

@SteveMacenski Thanks a lot, I have pulled from main.