spin_plugin: add disable_collision_checks option (humble)

[KevinEppacher]

Basic Info

Info	Value
Ticket(s) this addresses	N/A
Primary OS tested on	Ubuntu 22.04 LTS
Robotic platform tested on	Simulated environment (Carter_ROS + IsaacSim 5.0.0 + Nav2 Humble)
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

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Description of contribution in a few bullet points

• Added a new optional field disable_collision_checks to the nav2_msgs/action/Spin goal message.
• Updated the Spin behavior plugin to respect this flag and skip collision checking when set to true.
• Enables developers to use the spin behavior safely in constrained or simulation-only contexts where collision checking is unnecessary (e.g., SLAM initialization or visual localization resets).
• Default behavior remains unchanged – collision checks are still enabled unless explicitly disabled.

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Description of documentation updates required from your changes

• Update Spin behavior documentation to mention the new disable_collision_checks field.
• Add the new field to default YAML examples under behavior_server configurations.
• Note that this is an optional runtime flag for advanced users.

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Description of how this change was tested

• Built and run within ROS 2 Humble (see Repository SAGE)
• Verified Spin behavior with and without disable_collision_checks: true flag using bt_navigator and custom launch configuration.
• Confirmed normal behavior when omitted, and confirmed immediate spin without collision look-ahead when set to true.

bool Robot::spin(double yaw, double durationSec)
{
    if (!spinClient)
        spinClient = rclcpp_action::create_client<NavSpin>(node, "/spin");

    if (!spinClient->wait_for_action_server(1s))
    {
        RCLCPP_ERROR(node->get_logger(), "Spin action server not available");
        return false;
    }

    NavSpin::Goal goal;
    goal.target_yaw = yaw;
    goal.disable_collision_checks = true;
    goal.time_allowance = rclcpp::Duration::from_seconds(durationSec);

    spinDone = false;
    spinResult = rclcpp_action::ResultCode::UNKNOWN;

    auto options = rclcpp_action::Client<NavSpin>::SendGoalOptions();
    options.result_callback = [this](const GoalHandleSpin::WrappedResult& result)
    {
        spinDone = true;
        spinResult = result.code;
    };

    goalHandleFuture = spinClient->async_send_goal(goal, options);
    this->halted = false;
    return true;
}

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Future work that may be required in bullet points

• Add automated unit tests to confirm correct disabling of collision simulation.

---

For Maintainers

• Check that new parameter is documented on docs.nav2.org
• Add to migration and tuning guides if applicable
• Confirm Doxygen and test coverage
• Consider backport tag backport-humble

[mergify]

@KevinEppacher, 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]

This cannot be backported. We cannot change message definitions unfortunately in released distributions. That breaks any and all existing users and MD5 hashes