Change max_cost default to 254 (ros-navigation#5256)

tonynajjar · masf7g · commit ee14adc94eec · 2025-06-17T12:18:41.000-04:00
Signed-off-by: Tony Najjar &lt;tony.najjar.1997@gmail.com&gt;
diff --git a/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp b/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
@@ -24,7 +24,7 @@ IsPathValidCondition::IsPathValidCondition(
   const std::string & condition_name,
   const BT::NodeConfiguration & conf)
 : BT::ConditionNode(condition_name, conf),
-  max_cost_(253), consider_unknown_as_obstacle_(false)
+  max_cost_(254), consider_unknown_as_obstacle_(false)
 {
   node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
   client_ = node_->create_client<nav2_msgs::srv::IsPathValid>("is_path_valid");
diff --git a/nav2_msgs/srv/IsPathValid.srv b/nav2_msgs/srv/IsPathValid.srv
@@ -1,7 +1,7 @@
 #Determine if the current path is still valid
 
 nav_msgs/Path path
-uint8 max_cost 253
+uint8 max_cost 254
 bool consider_unknown_as_obstacle false
 int32 num_points_to_validate 0      # 0 - validate whole path, >0 - validate N points from start, <0 - do not validate N points from end
 ---

Original file line number	Diff line number	Diff line change
`@@ -24,7 +24,7 @@ IsPathValidCondition::IsPathValidCondition(`
`24`	`24`	`const std::string & condition_name,`
`25`	`25`	`const BT::NodeConfiguration & conf)`
`26`	`26`	`: BT::ConditionNode(condition_name, conf),`
`27`		`- max_cost_(253), consider_unknown_as_obstacle_(false)`
	`27`	`+ max_cost_(254), consider_unknown_as_obstacle_(false)`
`28`	`28`	`{`
`29`	`29`	`node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");`
`30`	`30`	`client_ = node_->create_client<nav2_msgs::srv::IsPathValid>("is_path_valid");`