Humble backport fixes

[jncfa]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #5230)
Primary OS tested on	Ubuntu
Robotic platform tested on	None
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

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Description of contribution in a few bullet points

Backports bug fixes from main to humble:

• 1de4cd2
• 7d5e93c

Also fixes the devcontainer setup for humble (as I used it for testing and ran into those issues).

Description of documentation updates required from your changes

Description of how this change was tested

Ran colcon test, which fixes the some of the test issues reported above, however there are still other unrelated tests failing:

build/dwb_plugins/Testing/20250719-1448/Test.xml: 9 tests, 0 errors, 1 failure, 0 skipped
build/dwb_plugins/test_results/dwb_plugins/twist_gen_test.gtest.xml: 1 test, 1 error, 0 failures, 0 skipped
build/nav2_behavior_tree/Testing/20250719-1447/Test.xml: 58 tests, 0 errors, 4 failures, 0 skipped
build/nav2_behavior_tree/test_results/nav2_behavior_tree/copyright.xunit.xml: 194 tests, 0 errors, 28 failures, 0 skipped
build/nav2_behavior_tree/test_results/nav2_behavior_tree/cpplint.xunit.xml: 186 tests, 0 errors, 21 failures, 0 skipped
build/nav2_behavior_tree/test_results/nav2_behavior_tree/lint_cmake.xunit.xml: 685 tests, 0 errors, 675 failures, 0 skipped
build/nav2_behavior_tree/test_results/nav2_behavior_tree/uncrustify.xunit.xml: 168 tests, 0 errors, 2 failures, 0 skipped
build/nav2_collision_monitor/Testing/20250719-1448/Test.xml: 10 tests, 0 errors, 1 failure, 0 skipped
build/nav2_collision_monitor/test_results/nav2_collision_monitor/collision_monitor_node_test.gtest.xml: 1 test, 1 error, 0 failures, 0 skipped
build/nav2_controller/Testing/20250719-1448/Test.xml: 8 tests, 0 errors, 1 failure, 0 skipped
build/nav2_controller/test_results/nav2_controller/uncrustify.xunit.xml: 16 tests, 0 errors, 1 failure, 0 skipped
build/nav2_mppi_controller/Testing/20250719-1448/Test.xml: 17 tests, 0 errors, 3 failures, 0 skipped
build/nav2_mppi_controller/test_results/nav2_mppi_controller/cpplint.xunit.xml: 85 tests, 0 errors, 20 failures, 0 skipped
build/nav2_mppi_controller/test_results/nav2_mppi_controller/lint_cmake.xunit.xml: 134 tests, 0 errors, 126 failures, 0 skipped
build/nav2_mppi_controller/test_results/nav2_mppi_controller/uncrustify.xunit.xml: 67 tests, 0 errors, 2 failures, 0 skipped
build/nav2_system_tests/Testing/20250719-1448/Test.xml: 31 tests, 0 errors, 6 failures, 0 skipped
build/nav2_system_tests/test_results/nav2_system_tests/test_dynamic_obstacle.xml: 1 test, 1 error, 0 failures, 0 skipped
build/nav2_system_tests/test_results/nav2_system_tests/test_keepout_filter.xml: 1 test, 1 error, 0 failures, 0 skipped
build/nav2_system_tests/test_results/nav2_system_tests/test_nav_through_poses.xml: 1 test, 1 error, 0 failures, 0 skipped
build/nav2_system_tests/test_results/nav2_system_tests/test_speed_filter_local.xml: 1 test, 1 error, 0 failures, 0 skipped
build/nav2_system_tests/test_results/nav2_system_tests/test_spin_behavior.xml: 1 test, 1 error, 0 failures, 0 skipped
build/nav2_system_tests/test_results/nav2_system_tests/test_spin_behavior_fake.xml: 1 test, 1 error, 0 failures, 0 skipped

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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-*.

[mergify]

@jncfa, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @humble, but it must be in main
to have these changes reflected into new distributions.

[SteveMacenski]

@jncfa one small error from linting:

Add #include for vector<>

and that does resolve a couple of the failures! Thank you! There are still a couple left but I'll take any incremental improvements I can get :-)

[jncfa]

@jncfa one small error from linting:

Add #include for vector<>

and that does resolve a couple of the failures! Thank you! There are still a couple left but I'll take any incremental improvements I can get :-)

Sounds good! :)

I looked into a few of the test failures (the collision monitor and MPPI ones in particular) but didn't manage to fix them yet, so I would rather send a PR to address those separately

Should I create* a follow-up issue to track those failing tests?

[SteveMacenski]

I think you can just comment back on the original ticket! Will merge this one CI finishes 😄

[jncfa]

It's interesting that on CircleCI there are quite a lot less tests failing compared to my local devcontainer setup 🤔 https://app.circleci.com/pipelines/github/ros-navigation/navigation2/15532/workflows/92450c42-9041-427f-91df-165a0eeb6a9c/jobs/45267/tests