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

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 <[email protected]>

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 <[email protected]>

Signed-off-by: SteveMacenski <[email protected]>

* Moving MPPI, Smac to secondary job Signed-off-by: SteveMacenski <[email protected]> * Use xlarge resource class Signed-off-by: SteveMacenski <[email protected]> * Bump the cache Signed-off-by: SteveMacenski <[email protected]> * back to large Signed-off-by: SteveMacenski <[email protected]> * fix Signed-off-by: SteveMacenski <[email protected]> * Add route server Signed-off-by: SteveMacenski <[email protected]> * Shift more packages over Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]>

Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

* [DEX] limit comparison precision Signed-off-by: Guillaume Doisy <[email protected]> * EPSILON 1e-5 Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

…s for CircleCI limits (ros-navigation#5409) * Moving Nav2 behaviors to the system build job Signed-off-by: SteveMacenski <[email protected]> * Adding Docking Signed-off-by: SteveMacenski <[email protected]> * moving more over to balance jobs Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]>

) * Add pause and seq with bb memory BT nodes Signed-off-by: redvinaa <[email protected]> * Requested changes Signed-off-by: redvinaa <[email protected]> * Lint Signed-off-by: redvinaa <[email protected]> * Restructure pause, rename unpaused state to resumed Signed-off-by: redvinaa <[email protected]> * Add PauseResumeController test Signed-off-by: redvinaa <[email protected]> * Implement tests using xml_txt trees and dummy nodes Signed-off-by: redvinaa <[email protected]> * Update include Signed-off-by: redvinaa <[email protected]> * One more fix because of sync Signed-off-by: redvinaa <[email protected]> * Fix build Signed-off-by: redvinaa <[email protected]> * Add tests Signed-off-by: redvinaa <[email protected]> * Remove unreachable code Signed-off-by: redvinaa <[email protected]> * Fix tests Signed-off-by: redvinaa <[email protected]> * Update copyrights Signed-off-by: redvinaa <[email protected]> * Fix size calc Signed-off-by: redvinaa <[email protected]> * Rename to PersistentSequence Signed-off-by: redvinaa <[email protected]> * Fix docstring Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]>

Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

Signed-off-by: Sushant Chavan <[email protected]>

…ros-navigation#5420) * fix: Add KDTree type definition to include unsigned int for IndexType Signed-off-by: Ericsii <[email protected]> * code format Signed-off-by: Ericsii <[email protected]> --------- Signed-off-by: Ericsii <[email protected]>

Signed-off-by: mini-1235 <[email protected]>

* Move nav_2d_util to nav2_util Signed-off-by: mini-1235 <[email protected]> * Rename frame Signed-off-by: mini-1235 <[email protected]> * Replace OdomSubscriber with OdomSmoother Signed-off-by: mini-1235 <[email protected]> * Use transformPoseInTargetFrame in all controllers Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]>

…s-navigation#5406) * Construct TF listeners passing nodes, spinning on separate thread Signed-off-by: Patrick Roncagliolo <[email protected]> * (tentative) pin down of the impacting change Signed-off-by: Patrick Roncagliolo <[email protected]> --------- Signed-off-by: Patrick Roncagliolo <[email protected]>

Signed-off-by: Steve Macenski <[email protected]>

…ation#5423) * Smooth path even if goal pose is so much near to the robot Signed-off-by: CihatAltiparmak <[email protected]> * Apply suggestions Signed-off-by: CihatAltiparmak <[email protected]> * Remove unnecessary diff Signed-off-by: CihatAltiparmak <[email protected]> --------- Signed-off-by: CihatAltiparmak <[email protected]>

…5427) * Make pause resume controller use nav2::LifecycleNode Signed-off-by: redvinaa <[email protected]> * Fix tests Signed-off-by: redvinaa <[email protected]> * Use new nav2 create_service Signed-off-by: redvinaa <[email protected]> * Use attribues from parent, fix future wait, update docstring Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]>

* Updating readme info Signed-off-by: SteveMacenski <[email protected]> * Adding configuration guide Signed-off-by: SteveMacenski <[email protected]> * Conciseness Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]>

…s-navigation#5452) * nav2_route vizualization marker use sphere_list and line_list for rendering performance Signed-off-by: Emerson Knapp <[email protected]> * Fix unit test and break out magic constants into named values Signed-off-by: Emerson Knapp <[email protected]> --------- Signed-off-by: Emerson Knapp <[email protected]>

…#5466) Signed-off-by: Adi Vardi <[email protected]>

* Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <[email protected]> * remove comment Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>

…n#5490) Signed-off-by: mini-1235 <[email protected]>

* fix-duplicate-poses Signed-off-by: Tony Najjar <[email protected]> * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

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

) * Add custom window size and poly order in SG filter Signed-off-by: mini-1235 <[email protected]> * Fix linting and benchmark tool Signed-off-by: mini-1235 <[email protected]> * Cmakelist Signed-off-by: mini-1235 <[email protected]> * Adding comments Signed-off-by: mini-1235 <[email protected]> * Add blog Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]>

Signed-off-by: SteveMacenski <[email protected]>

Added 3Laws Robotics to the list of partners. Signed-off-by: Steve Macenski <[email protected]>

* Fix segmentation fault Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>

…s-navigation#5507) * Fixes for route graph Signed-off-by: SteveMacenski <[email protected]> * Fix route graph vis Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]>

Signed-off-by: SteveMacenski <[email protected]>

…ion#5499) * Fix pose timestamp when using transformPoseInTargetFrame Signed-off-by: mini-1235 <[email protected]> * Fix frame Signed-off-by: mini-1235 <[email protected]> * Update nav2_route/src/goal_intent_extractor.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

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

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] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

…ts (ros-navigation#5485) * Publish criticsStats Signed-off-by: Tony Najjar <[email protected]> * linting Signed-off-by: Tony Najjar <[email protected]> * change header to stamp Signed-off-by: Tony Najjar <[email protected]> * make unique_pointer Signed-off-by: Tony Najjar <[email protected]> * typo Signed-off-by: Tony Najjar <[email protected]> * Add readme Signed-off-by: Tony Najjar <[email protected]> * add to readme Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>

…_dependencies (ros-navigation#5514) Signed-off-by: JPLDevMaster <[email protected]>

Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

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

* Add missing dependency declaration Signed-off-by: Sushant Chavan <[email protected]> * Remove unused header Signed-off-by: Sushant Chavan <[email protected]> --------- Signed-off-by: Sushant Chavan <[email protected]>

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

… 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 <[email protected]> - updtae Signed-off-by: Koensgen Benjamin <[email protected]> Signed-off-by: bkoensgen <[email protected]> * fix: Address review feedback and fix unit tests Signed-off-by: Koensgen Benjamin <[email protected]> fix(docking): Change subscribe_toggle default to false Signed-off-by: Koensgen Benjamin <[email protected]> - Signed-off-by: bkoensgen <[email protected]> * 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 <[email protected]> Signed-off-by: bkoensgen <[email protected]> * 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 <[email protected]> Signed-off-by: bkoensgen <[email protected]> * refactor(docking): migrate to nav2_ros_common (node_utils, LifecycleNode, QoS) Signed-off-by: bkoensgen <[email protected]> * build(opennav_docking): update deps (std_srvs, package.xml + CMakeLists) Signed-off-by: bkoensgen <[email protected]> * refactor(Docking): migrate to nav2::LifecycleNode Signed-off-by: bkoensgen <[email protected]> * refactor(docking): use nav2::qos::StandardTopicQoS for subscriptions Signed-off-by: bkoensgen <[email protected]> * refactor(opennav_docking): replace raw queue size with rclcpp::QoS(1) in pubs/subs Signed-off-by: bkoensgen <[email protected]> * refactor(tests): migrate nav2_util::NodeThread to nav2::NodeThread Signed-off-by: bkoensgen <[email protected]> * refactor(tests): migrate to 3-args service callbacks Signed-off-by: bkoensgen <[email protected]> * style(test): apply ament_uncrustify Signed-off-by: bkoensgen <[email protected]> * refactor(opennav_docking) migrate detector Trigger service to node_->create_client() Signed-off-by: bkoensgen <[email protected]> * docking: use nav2 types for pubs/subs in SimpleChargingDock and add explicit detection state flags Signed-off-by: bkoensgen <[email protected]> * docking: use nav2 types for pubs/subs in SimpleNonChargingDock and add explicit detection state flags Signed-off-by: bkoensgen <[email protected]> * docking: split detection state in SimpleChargingDock (detection_started_ vs initial_pose_received_) and warn before first pose Signed-off-by: bkoensgen <[email protected]> * docking: split detection state in SimpleNonChargingDock (detection_started_ vs initial_pose_received_) and warn before first pose Signed-off-by: bkoensgen <[email protected]> * tests: adapt SimpleChargingDockTestable to initial_pose_received_ state Signed-off-by: bkoensgen <[email protected]> * tests: adapt SimpleNonChargingDockTestable to initial_pose_received_ state Signed-off-by: bkoensgen <[email protected]> * docs(docking): clarify external detection gating and subscribe_toggle behavior (default=false) Signed-off-by: bkoensgen <[email protected]> * fix(docking): keep SimpleNonChargingDock registered as ChargingDock (stay in-scope) Signed-off-by: bkoensgen <[email protected]> * docs(docking): revert README note to pre-e881de19 state Signed-off-by: bkoensgen <[email protected]> * fix(docking_server): remove redundant null-check before stopDetectionProcess() in terminal cleanup Signed-off-by: bkoensgen <[email protected]> * style(docking_server): unify terminal order (stash->publishZeroVelocity->stopDetection->terminate) Signed-off-by: bkoensgen <[email protected]> * lint Signed-off-by: bkoensgen <[email protected]> * fix(docking): inline detection process Signed-off-by: bkoensgen <[email protected]> * chore(docking): drop redundant detector comment Signed-off-by: bkoensgen <[email protected]> * chore(docking): clarify detector logs Signed-off-by: bkoensgen <[email protected]> * fix(docking): activate lifecycle publishers Signed-off-by: bkoensgen <[email protected]> * chore(docking): reuse dock pose subscription Signed-off-by: bkoensgen <[email protected]> * lint Signed-off-by: bkoensgen <[email protected]> * fix(docking_server): drop redundant DB deactivate on cleanup Signed-off-by: bkoensgen <[email protected]> * refactor(docking): rename detection state flag to detection_active Signed-off-by: bkoensgen <[email protected]> * fix(docking): reset detection flags on cleanup Signed-off-by: bkoensgen <[email protected]> --------- Signed-off-by: Koensgen Benjamin <[email protected]> Signed-off-by: bkoensgen <[email protected]>

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

…on#5533) Signed-off-by: bkoensgen <[email protected]>

…p, ArePosesNear to nav2_tree_nodes.xml (ros-navigation#5534) Signed-off-by: Jonas Otto <[email protected]>

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

Signed-off-by: BCKSELFDRIVEWORLD <[email protected]>

SteveMacenski requested changes Jul 31, 2025

View reviewed changes

BCKSELFDRIVEWORLD added 4 commits September 23, 2025 16:23

Adds selective costmap clearing first commit

9b4d4b3

Signed-off-by: BCKSELFDRIVEWORLD <[email protected]>

fix

8b38450

Signed-off-by: BCKSELFDRIVEWORLD <[email protected]>

fix typo and reset ports

915925c

Signed-off-by: BCKSELFDRIVEWORLD <[email protected]>

fix typo

827130a

Signed-off-by: BCKSELFDRIVEWORLD <[email protected]>

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)

72b31a2

Signed-off-by: BCKSELFDRIVEWORLD <[email protected]>

Reset master costmap after plugin clearing

3cc7ff3

Signed-off-by: BCKSELFDRIVEWORLD <[email protected]>

Reverting changes to update ci image workflow

4c6497c

Signed-off-by: SteveMacenski <[email protected]>

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

920e991

Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

corner case bin check (ros-navigation#5413)

5b08294

Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

Add backward_ros dependency (ros-navigation#5404)

d5da59c

Signed-off-by: Sushant Chavan <[email protected]>

Update tf2 ros headers (ros-navigation#5381)

cd534b7

Signed-off-by: mini-1235 <[email protected]>

Adding new API docs website

91cfe4e

Signed-off-by: Steve Macenski <[email protected]>

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 <[email protected]>

Fix dynamic param SmacPlannerLattice (ros-navigation#5478)

a69b725

* Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <[email protected]> * remove comment Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>

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

2da6e91

…n#5490) Signed-off-by: mini-1235 <[email protected]>

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

90475ee

Signed-off-by: SteveMacenski <[email protected]>

Include 3Laws Robotics in README partners section

78ca356

Added 3Laws Robotics to the list of partners. Signed-off-by: Steve Macenski <[email protected]>

Fix seg fault (ros-navigation#5501)

1685ef3

* Fix segmentation fault Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>

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

58d893f

Signed-off-by: SteveMacenski <[email protected]>

fix(nav2_theta_star_planner): Correct typo in CMakeLists ament_export…

272d61e

…_dependencies (ros-navigation#5514) Signed-off-by: JPLDevMaster <[email protected]>

default empty constructor (ros-navigation#5518)

73e16d8

Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

Fix/dependency and header (ros-navigation#5520)

1cb362f

* Add missing dependency declaration Signed-off-by: Sushant Chavan <[email protected]> * Remove unused header Signed-off-by: Sushant Chavan <[email protected]> --------- Signed-off-by: Sushant Chavan <[email protected]>

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

96a9079

…on#5533) Signed-off-by: bkoensgen <[email protected]>

add bt nodes GetCurrentPose, ConcatenatePaths, WouldARouteRecoveryHel…

64217dc

…p, ArePosesNear to nav2_tree_nodes.xml (ros-navigation#5534) Signed-off-by: Jonas Otto <[email protected]>

TODO

2e12459

Signed-off-by: BCKSELFDRIVEWORLD <[email protected]>

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

BCKSELFDRIVEWORLD closed this Sep 23, 2025

BCKSELFDRIVEWORLD mentioned this pull request Sep 23, 2025

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

Open

8 tasks

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

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

Uh oh!

BCKSELFDRIVEWORLD commented Jul 29, 2025 •

edited

Loading

Uh oh!

mergify bot commented Jul 29, 2025

Uh oh!

SteveMacenski left a comment •

edited

Loading

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

SteveMacenski commented Aug 21, 2025

Uh oh!

mergify bot commented Sep 23, 2025

Uh oh!

mergify bot commented Sep 23, 2025

Uh oh!

mergify bot commented Sep 23, 2025

Uh oh!

codecov bot commented Sep 23, 2025 •

edited

Loading

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

22 participants

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

Uh oh!

Conversation

BCKSELFDRIVEWORLD commented Jul 29, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Basic Info

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:

Uh oh!

mergify bot commented Jul 29, 2025

Uh oh!

SteveMacenski left a comment • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

SteveMacenski commented Aug 21, 2025

Uh oh!

mergify bot commented Sep 23, 2025

Uh oh!

mergify bot commented Sep 23, 2025

Uh oh!

mergify bot commented Sep 23, 2025

Uh oh!

codecov bot commented Sep 23, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Codecov Report

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

22 participants

BCKSELFDRIVEWORLD commented Jul 29, 2025 •

edited

Loading

SteveMacenski left a comment •

edited

Loading

codecov bot commented Sep 23, 2025 •

edited

Loading