Nav2 Segmentation Node

[alanxuefei]

To Do:

• Convert SAM3 to ONNX format.
• Enable SAM3 to be controlled via the Nav2 behavior tree, with support for point, box, and text prompts.
• Deploy the model to publish masks for integration with the costmap layer.

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
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-*.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 80 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_segmentation/src/segment_image_action.cpp	0.00%	37 Missing ⚠️
nav2_segmentation/src/segmentation_server.cpp	0.00%	26 Missing ⚠️
...include/nav2_segmentation/segment_image_action.hpp	0.00%	17 Missing ⚠️

Files with missing lines	Coverage Δ
...include/nav2_segmentation/segment_image_action.hpp	0.00% <0.00%> (ø)
nav2_segmentation/src/segmentation_server.cpp	0.00% <0.00%> (ø)
nav2_segmentation/src/segment_image_action.cpp	0.00% <0.00%> (ø)

... and 11 files with indirect coverage changes

🚀 New features to boost your workflow:

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

[SteveMacenski]

I don't really understand the BT node/XML & action definitions.

For the actions, why not use the vision_msgs labels and standard sensor_msgs/Image? Why wouldn't this server just be doing segmentation over images coming in from the sensor live as a feed?

I guess I understand the BT node if you plan to only ask it to get you data in a snapshot. You may instead just want to have a simpler implementation that serves the last published semantic mask instead so it can live stream.

This PR doesn't really contain any "meat" from the server though to review, which is the main important element I think