Add "plugins" Parameter to BT XML for Selective Clearing of Costmap Layers by BCKSELFDRIVEWORLD · Pull Request #5400 · ros-navigation/navigation2

BCKSELFDRIVEWORLD · 2025-07-29T18:58:59Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(#4963)
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-*.

mergify · 2025-07-29T20:00:17Z

@BCKSELFDRIVEWORLD, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski

LGTM with small changes. Rebase on main when I merge #5409 (should be in the next hour or so) to get CI to turn over. We're hitting some limits I'm working around. Once these small changes are made and CI is passing I can merge!

Checkout the linting failure jobs, those should be fixed as well

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/clear_costmap_service.hpp

nav2_behavior_tree/plugins/action/clear_costmap_service.cpp

nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp

nav2_costmap_2d/src/clear_costmap_service.cpp

SteveMacenski · 2025-08-21T15:05:23Z

@BCKSELFDRIVEWORLD any update?

mergify · 2025-09-23T13:19:58Z

@BCKSELFDRIVEWORLD, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

mergify · 2025-09-23T13:27:27Z

@BCKSELFDRIVEWORLD, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2025-09-23T13:36:52Z

@BCKSELFDRIVEWORLD, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

codecov · 2025-09-23T17:02:27Z

Codecov Report

❌ Patch coverage is 90.79070% with 99 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_costmap_2d/src/clear_costmap_service.cpp	18.75%	26 Missing ⚠️
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp	53.06%	23 Missing ⚠️
..._map_server/src/vo_server/vector_object_shapes.cpp	96.81%	7 Missing ⚠️
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	79.31%	6 Missing ⚠️
...vior_tree/plugins/action/clear_costmap_service.cpp	66.66%	4 Missing ⚠️
...r_tree/plugins/control/pause_resume_controller.cpp	94.28%	4 Missing ⚠️
...v2_graceful_controller/src/graceful_controller.cpp	75.00%	4 Missing ⚠️
nav2_map_server/src/vo_server/main.cpp	0.00%	4 Missing ⚠️
...avior_tree/plugins/control/persistent_sequence.cpp	89.28%	3 Missing ⚠️
...cking/opennav_docking/src/simple_charging_dock.cpp	95.52%	3 Missing ⚠️
... and 9 more

Files with missing lines	Coverage Δ
nav2_amcl/src/amcl_node.cpp	`66.76% <100.00%> (ø)`
...nclude/nav2_behavior_tree/behavior_tree_engine.hpp	`100.00% <ø> (ø)`
...ee/include/nav2_behavior_tree/bt_action_server.hpp	`83.33% <100.00%> (ø)`
...vior_tree/plugins/action/clear_costmap_service.hpp	`100.00% <100.00%> (ø)`
...r_tree/plugins/action/controller_selector_node.hpp	`100.00% <ø> (ø)`
...tree/plugins/action/goal_checker_selector_node.hpp	`100.00% <ø> (ø)`
...vior_tree/plugins/action/planner_selector_node.hpp	`100.00% <ø> (ø)`
.../plugins/action/progress_checker_selector_node.hpp	`100.00% <ø> (ø)`
...ior_tree/plugins/action/smoother_selector_node.hpp	`100.00% <ø> (ø)`
...tree/plugins/action/truncate_path_local_action.hpp	`100.00% <ø> (ø)`
... and 117 more

... and 29 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

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

* 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>

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

* [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>

…s for CircleCI limits (ros-navigation#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>

) * 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>

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

Signed-off-by: Sushant Chavan <gitecsvc@gmail.com>

…ros-navigation#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>

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

* 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>

…s-navigation#5406) * 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>

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

…ation#5423) * 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>

…5427) * 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>

* 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>

…s-navigation#5452) * nav2_route vizualization marker use sphere_list and line_list for rendering performance Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Fix unit test and break out magic constants into named values Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

…#5466) Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

…n#5490) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* fix-duplicate-poses Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Revert "Add double spin_some in some BT nodes (ros-navigation#5055)" This reverts commit 4e8469e. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update spin some to use spin all Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Replace 50 ms with bt loop duration Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

) * Add custom window size and poly order in SG filter Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix linting and benchmark tool Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Cmakelist Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Adding comments Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add blog Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

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

Added 3Laws Robotics to the list of partners. Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Fix segmentation fault Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

…s-navigation#5507) * Fixes for route graph Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix route graph vis Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

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

…ion#5499) * Fix pose timestamp when using transformPoseInTargetFrame Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix frame Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update nav2_route/src/goal_intent_extractor.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Implement integral distance for critics Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * . Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * more linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix tests Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset path length Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix sign Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix return value Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "fix return value" This reverts commit 8b21e89. Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove extra variable Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add doxygen Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * rename getCriticGoalPathDistance Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * delete withinPositionGoalTolerance Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use only one path distance Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * cleanup Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reorder Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * format Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix tests Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Bumps [actions/setup-python](https://github.com/actions/setup-python) from 5 to 6. - [Release notes](https://github.com/actions/setup-python/releases) - [Commits](actions/setup-python@v5...v6) --- updated-dependencies: - dependency-name: actions/setup-python dependency-version: '6' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

…ts (ros-navigation#5485) * Publish criticsStats Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change header to stamp Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * make unique_pointer Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * typo Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add readme Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add to readme Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

…_dependencies (ros-navigation#5514) Signed-off-by: JPLDevMaster <joao.penha.lopes@tecnico.ulisboa.pt>

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

* Add Vector Object server Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Meet review comments Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> * Simplify shapes param configuring Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename getROSParameter() to getParameter() Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Return back getMaskData() to nav2_costmap_2d Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add composition node support Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> * Remove redundant methods Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update nav2_map_server/src/vo_server/vector_object_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Avoid shapes clearing Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Optimize switchMapUpdate() method Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Switch to vector of shapes Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Meet review comments Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Move isPointInside algorithm to nav2_util Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Testcases covering new functionality Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix linting issues Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Adjust for Vector Objects demonstration Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Code clean-up * Corrected headers * Functions ordering * Comment fixes Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Additional code facelift * Correct licensing years * Fix Vector Object server dependencies * Funcion rename for better readability * Improve/fix comments Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> * Minor fixing after rebase Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename vector object server Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor changes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Merge branch 'main' into feature/vector_object_server Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Fix merge issues and pre-commit checks Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Change tf2_ros headers from `.h` to `.hpp` Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Fix race condition in pub-sub of VO map Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Cleanup Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Remove use of ament_target_dependencies Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Fix review comments Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Fix linter errors Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Fix exception handling Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Update nav2_map_server/include/nav2_map_server/vector_object_utils.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_util/include/nav2_util/raytrace_line_2d.hpp Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Add error logs Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Fix cpplint Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> --------- Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* Add missing dependency declaration Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> * Remove unused header Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com> --------- Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com>

* Get rid of rclcpp spin all and spin some Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Vector object server Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update nav2_rviz_plugins/src/utils.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Error log Signed-off-by: Maurice <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

… dock plugins (ros-navigation#5015) (ros-navigation#5218) * feat(opennav_docking): Add dynamic lifecycle for external detectors This change introduces an API to dynamically enable and disable external docking detectors, such as those based on AI, to conserve system resources when not actively docking. Key changes: - Added `startDetectionProcess()` and `stopDetectionProcess()` to the docking plugin interface (`ChargingDock` and `NonChargingDock`). - Implemented this logic in `SimpleChargingDock` and `SimpleNonChargingDock` using a `std_srvs/Trigger` service call and dynamic topic subscription to manage the detector's lifecycle. - The `DockingServer` now ensures `stopDetectionProcess()` is called on all exit paths, including success, failure, and cancellation, to prevent dangling resources. - Added new parameters (`detector_service_name`, `subscribe_toggle`, etc.) to configure this behavior and updated the README documentation. - Added comprehensive C++ unit tests to verify the new detector lifecycle logic, specifically covering service failure cases and proper cleanup on action termination. Closes ros-navigation#5015 Signed-off-by: Koensgen Benjamin <b.koensgen@gmail.com> - updtae Signed-off-by: Koensgen Benjamin <b.koensgen@gmail.com> Signed-off-by: bkoensgen <b.koensgen@gmail.com> * fix: Address review feedback and fix unit tests Signed-off-by: Koensgen Benjamin <b.koensgen@gmail.com> fix(docking): Change subscribe_toggle default to false Signed-off-by: Koensgen Benjamin <b.koensgen@gmail.com> - Signed-off-by: bkoensgen <b.koensgen@gmail.com> * refactor(docking): Improve plugin lifecycle and resource management This commit addresses several code review suggestions to improve the design and robustness of the docking plugins. - Replaced the `DetectorState` enum with a simpler `bool detector_enabled_` for clarity. - Encapsulated the detection process lifecycle within the plugin itself. The `deactivate` method now ensures `stopDetectionProcess` is called, improving encapsulation and simplifying the `DockDatabase`. - Refactored the `configure` method in plugins to group related logic, improving readability. - Cleaned up redundant checks and calls in both the plugins and the `DockingServer` for more robust and intentional code. Signed-off-by: Koensgen Benjamin <b.koensgen@gmail.com> Signed-off-by: bkoensgen <b.koensgen@gmail.com> * fix(plugins): Resolve race condition by setting enabled state in callback The previous refactoring introduced a race condition where the detector was marked as 'enabled' in startDetection() before a message was actually received. This caused tests to fail because getRefinedPose() would be called with an enabled state but no valid/recent data. This commit fixes the issue by moving the `detector_enabled_ = true` assignment into the subscription callback. This ensures the plugin's state accurately reflects that it has received at least one valid data point before being considered active. Signed-off-by: Koensgen Benjamin <b.koensgen@gmail.com> Signed-off-by: bkoensgen <b.koensgen@gmail.com> * refactor(docking): migrate to nav2_ros_common (node_utils, LifecycleNode, QoS) Signed-off-by: bkoensgen <b.koensgen@gmail.com> * build(opennav_docking): update deps (std_srvs, package.xml + CMakeLists) Signed-off-by: bkoensgen <b.koensgen@gmail.com> * refactor(Docking): migrate to nav2::LifecycleNode Signed-off-by: bkoensgen <b.koensgen@gmail.com> * refactor(docking): use nav2::qos::StandardTopicQoS for subscriptions Signed-off-by: bkoensgen <b.koensgen@gmail.com> * refactor(opennav_docking): replace raw queue size with rclcpp::QoS(1) in pubs/subs Signed-off-by: bkoensgen <b.koensgen@gmail.com> * refactor(tests): migrate nav2_util::NodeThread to nav2::NodeThread Signed-off-by: bkoensgen <b.koensgen@gmail.com> * refactor(tests): migrate to 3-args service callbacks Signed-off-by: bkoensgen <b.koensgen@gmail.com> * style(test): apply ament_uncrustify Signed-off-by: bkoensgen <b.koensgen@gmail.com> * refactor(opennav_docking) migrate detector Trigger service to node_->create_client() Signed-off-by: bkoensgen <b.koensgen@gmail.com> * docking: use nav2 types for pubs/subs in SimpleChargingDock and add explicit detection state flags Signed-off-by: bkoensgen <b.koensgen@gmail.com> * docking: use nav2 types for pubs/subs in SimpleNonChargingDock and add explicit detection state flags Signed-off-by: bkoensgen <b.koensgen@gmail.com> * docking: split detection state in SimpleChargingDock (detection_started_ vs initial_pose_received_) and warn before first pose Signed-off-by: bkoensgen <b.koensgen@gmail.com> * docking: split detection state in SimpleNonChargingDock (detection_started_ vs initial_pose_received_) and warn before first pose Signed-off-by: bkoensgen <b.koensgen@gmail.com> * tests: adapt SimpleChargingDockTestable to initial_pose_received_ state Signed-off-by: bkoensgen <b.koensgen@gmail.com> * tests: adapt SimpleNonChargingDockTestable to initial_pose_received_ state Signed-off-by: bkoensgen <b.koensgen@gmail.com> * docs(docking): clarify external detection gating and subscribe_toggle behavior (default=false) Signed-off-by: bkoensgen <b.koensgen@gmail.com> * fix(docking): keep SimpleNonChargingDock registered as ChargingDock (stay in-scope) Signed-off-by: bkoensgen <b.koensgen@gmail.com> * docs(docking): revert README note to pre-e881de19 state Signed-off-by: bkoensgen <b.koensgen@gmail.com> * fix(docking_server): remove redundant null-check before stopDetectionProcess() in terminal cleanup Signed-off-by: bkoensgen <b.koensgen@gmail.com> * style(docking_server): unify terminal order (stash->publishZeroVelocity->stopDetection->terminate) Signed-off-by: bkoensgen <b.koensgen@gmail.com> * lint Signed-off-by: bkoensgen <b.koensgen@gmail.com> * fix(docking): inline detection process Signed-off-by: bkoensgen <b.koensgen@gmail.com> * chore(docking): drop redundant detector comment Signed-off-by: bkoensgen <b.koensgen@gmail.com> * chore(docking): clarify detector logs Signed-off-by: bkoensgen <b.koensgen@gmail.com> * fix(docking): activate lifecycle publishers Signed-off-by: bkoensgen <b.koensgen@gmail.com> * chore(docking): reuse dock pose subscription Signed-off-by: bkoensgen <b.koensgen@gmail.com> * lint Signed-off-by: bkoensgen <b.koensgen@gmail.com> * fix(docking_server): drop redundant DB deactivate on cleanup Signed-off-by: bkoensgen <b.koensgen@gmail.com> * refactor(docking): rename detection state flag to detection_active Signed-off-by: bkoensgen <b.koensgen@gmail.com> * fix(docking): reset detection flags on cleanup Signed-off-by: bkoensgen <b.koensgen@gmail.com> --------- Signed-off-by: Koensgen Benjamin <b.koensgen@gmail.com> Signed-off-by: bkoensgen <b.koensgen@gmail.com>

* Added BT ID finder and used createTree to resolve btcpp warning Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Support using either bt file path or bt id Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Not necessarily a file name Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fix logic Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fix function definition Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed unit test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed BB variable Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed error msg Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed variable and its getter naming Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed definition Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fix xml check Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fix bt unit test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * added back test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * check bt id using the root or bt id Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * using tinyxml2 instead of regex Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed var name Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * fixed var name Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * check if arg is already a BT ID Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * check if arg is already a BT ID Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Test was failing due to same BT ID MainTree among all registred trees Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Fixed error msg to be compliant Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * python linting Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Removed unused createTreeFromFile since its replaced with createTree Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * PR fixes Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Added new line at the end of BT xml Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Should cover most of the cases Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * format Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Fixed BT format Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Removed redundant check Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Allow usage of file paths with a warning, while keeping BT ID usage as the recommended option Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Additional test Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> * Test coverage Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai> --------- Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

…on#5533) Signed-off-by: bkoensgen <b.koensgen@gmail.com>

…p, ArePosesNear to nav2_tree_nodes.xml (ros-navigation#5534) Signed-off-by: Jonas Otto <jonas.otto@ipa.fraunhofer.de>

…ation#5493) * Added std_srvs package to dependencies Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Declared service and callback for enabling/disabling collision monitor Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Declared a variable to store collision monitor enable/disable state Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added initialization for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Implemented service callback for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Removed std_srvs package dependency Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added Toggle interface Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Replaced Trigger interface with the new Toggle interface Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added default initialization for enabled flag Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Fixed toggle service name Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Updated toggle logic for collision monitor Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added a new line at the end of file Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added enabled check for logging Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Added a unit test for toggle service Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Made the getter const and added a comment Signed-off-by: Abhishekh Reddy <helloarm@pm.me> * Replaced rclcpp::spin_some Signed-off-by: Abhishekh Reddy <helloarm@pm.me> --------- Signed-off-by: Abhishekh Reddy <helloarm@pm.me> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

SteveMacenski requested changes Jul 31, 2025

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BCKSELFDRIVEWORLD added 4 commits September 23, 2025 16:23

Adds selective costmap clearing first commit

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fix

8b38450

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fix typo and reset ports

915925c

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fix typo

827130a

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BCKSELFDRIVEWORLD force-pushed the clear_costmap_pluginss branch from db82f81 to 827130a Compare September 23, 2025 13:24

BCKSELFDRIVEWORLD and others added 18 commits September 23, 2025 21:02

last fix typo (i hope)

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Reset master costmap after plugin clearing

3cc7ff3

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Reverting changes to update ci image workflow

4c6497c

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

[DEX] Enforce 3 digits precision (ros-navigation#5398)

920e991

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

corner case bin check (ros-navigation#5413)

5b08294

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

Add backward_ros dependency (ros-navigation#5404)

d5da59c

Signed-off-by: Sushant Chavan <gitecsvc@gmail.com>

Update tf2 ros headers (ros-navigation#5381)

cd534b7

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

Adding new API docs website

91cfe4e

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

emersonknapp and others added 27 commits September 23, 2025 21:02

make Blackboard variable ID private to the navigators (ros-navigation…

e7fd42f

…#5466) Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

Replace last pose if only orientation differs in Navfn (ros-navigatio…

2da6e91

…n#5490) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

Adding 3Laws Sponsors Sept 2025 (ros-navigation#5505)

90475ee

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

Include 3Laws Robotics in README partners section

78ca356

Added 3Laws Robotics to the list of partners. Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Fix seg fault (ros-navigation#5501)

1685ef3

* Fix segmentation fault Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Removing openMP dep on MPPI (ros-navigation#5506)

58d893f

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

fix(nav2_theta_star_planner): Correct typo in CMakeLists ament_export…

272d61e

…_dependencies (ros-navigation#5514) Signed-off-by: JPLDevMaster <joao.penha.lopes@tecnico.ulisboa.pt>

default empty constructor (ros-navigation#5518)

73e16d8

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

tests(opennav_docking): restore executor-based spinning (ros-navigati…

96a9079

…on#5533) Signed-off-by: bkoensgen <b.koensgen@gmail.com>

add bt nodes GetCurrentPose, ConcatenatePaths, WouldARouteRecoveryHel…

64217dc

…p, ArePosesNear to nav2_tree_nodes.xml (ros-navigation#5534) Signed-off-by: Jonas Otto <jonas.otto@ipa.fraunhofer.de>

TODO

2e12459

Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com>

BCKSELFDRIVEWORLD force-pushed the clear_costmap_pluginss branch from f9530b2 to 2e12459 Compare September 23, 2025 18:04

BCKSELFDRIVEWORLD closed this Sep 23, 2025

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Add plugins Parameter to BT XML for Selective Clearing of Costmap Layers #5548

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Add "plugins" Parameter to BT XML for Selective Clearing of Costmap Layers#5400

Add "plugins" Parameter to BT XML for Selective Clearing of Costmap Layers#5400
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