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Backport "Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In" #5378

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Merged
merged 2 commits into from
Jul 22, 2025
Merged

Backport "Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In" #5378

merged 2 commits into from
Jul 22, 2025

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@mini-1235 mini-1235 commented Jul 21, 2025

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-*.

@SteveMacenski @leander-dsouza @mini-1235
Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout …
069da1c 
…Zones if Wandered In (ros-navigation#5187)

* Adding toggle option of keepout zone

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

* Default off

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

* Join conditions

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

* spell check

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

* copilot suggestions

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

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>

* Update keepout_filter.cpp

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Leander Stephen D'Souza <[email protected]>
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mergify bot commented Jul 21, 2025

@mini-1235, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @jazzy, but it must be in main
to have these changes reflected into new distributions.

SteveMacenski
SteveMacenski requested changes Jul 21, 2025
View reviewed changes
nav2_bringup/params/nav2_params.yaml Outdated
resolution: 0.05
robot_radius: 0.22
plugins: ["voxel_layer", "inflation_layer"]
filters: ["keepout_filter"]
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@SteveMacenski SteveMacenski Jul 21, 2025

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Remove, we're not going to change the default behavior for users mid-distribution (even if they are newly available)

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SteveMacenski commented Jul 21, 2025

Otherwise LGTM and can merge once CI is done!

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codecov bot commented Jul 22, 2025 •
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Codecov Report

Attention: Patch coverage is 41.17647% with 20 lines in your changes missing coverage. Please review.

Files with missing lines Patch % Lines
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp 41.17% 20 Missing ⚠️
Files with missing lines Coverage Δ
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp 78.26% <41.17%> (-15.93%) ⬇️

... and 6 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 SteveMacenski merged commit cc4964b into ros-navigation:jazzy Jul 22, 2025
10 of 11 checks passed
RBT22 pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Sep 11, 2025
@mini-1235 @SteveMacenski
@leander-dsouza @RBT22
Backport "Option to Reduce Lethal to High-Cost Navigable To Get Out o…
24df24b 
…f Keepout Zones if Wandered In" (ros-navigation#5378)

* Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In (ros-navigation#5187)

* Adding toggle option of keepout zone

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

* Default off

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

* Join conditions

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

* spell check

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

* copilot suggestions

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

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>

* Update keepout_filter.cpp

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Leander Stephen D'Souza <[email protected]>

* Revert bringup params changes

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Maurice <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: Leander Stephen D'Souza <[email protected]>
RBT22 pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Dec 1, 2025
@mini-1235 @SteveMacenski
@leander-dsouza @RBT22
Backport "Option to Reduce Lethal to High-Cost Navigable To Get Out o…
a55004a 
…f Keepout Zones if Wandered In" (ros-navigation#5378)

* Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In (ros-navigation#5187)

* Adding toggle option of keepout zone

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

* Default off

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

* Join conditions

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

* spell check

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

* copilot suggestions

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

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>

* Update keepout_filter.cpp

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Leander Stephen D'Souza <[email protected]>

* Revert bringup params changes

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Maurice <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: Leander Stephen D'Souza <[email protected]>
redvinaa pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Dec 3, 2025
@RBT22 @SteveMacenski
@Nils-ChristianIseke @doisyg @sandeepdutta @vickzk @mini-1235 @padhupradheep @tonynajjar @leander-dsouza @MarcoMatteoBassa @RamanRobotics @RamanaBotta @mergify @Tacha-S @adivardi @dw25628 @roncapat @cboostjvisser @DavidG-Develop @olaghattas @coderbaibai @claude @ajtudela @CihatAltiparmak @Sushant-Chavan @Timple @armgits @ymd-stella @JayHerpin @greganderson-vermeer
Jazzy sync 1 2025 Oct 29 (#61)
88bb1fa 
* Jazzy Sync 7: May 29 2025 (ros-navigation#5211)

* Dynamic param patterns (ros-navigation#4971)

* redesign dynamic param patterns

Signed-off-by: Nils-ChristianIseke <[email protected]>

* change cache version

Signed-off-by: Nils-ChristianIseke <[email protected]>

* check that parameter of type double are  >=0.0

Signed-off-by: Nils-ChristianIseke <[email protected]>

---------

Signed-off-by: Nils-ChristianIseke <[email protected]>

* [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (ros-navigation#4925)

* Add force_use_current_pose

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* xml update

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* rename to use_start

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* lint

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* descriptions

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* simplify logic

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

---------

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

* [CostmapTopicCollisionChecker] Alternative constructor with footprint string (ros-navigation#4926)

* [CostmapTopicCollisionChecker] Alternative constructor with footprint

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* raw pointer

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

* suggestions from review

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

---------

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

* Merged Fix navfn_planner from humble PR ros-navigation#5087 (ros-navigation#5092)

* merged changes from humble for goal.header fix

* reverted back, error in merge

* ported goal.header fix in navfn_planner.cpp from humble

* reverted to navfn_planner.cpp to origin/main

* merged navfn_planner.cpp from humble

* fixed the merge

* Update map_io library to use Eigen method for faster map loading (ros-navigation#5071)

* Update map_io library to use opencv method for faster map loading

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* Update pre-commit config changes

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* Update pre-commit changes

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* Update include header include order

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* Remove intermediary alpha matrix

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* Add comments for the code understanding

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* Fix else braces rule issue

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* Create and use alpha_matrix when applying mask

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* Update pre-commit changes

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* Take flip part out of if-else

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* Update pre-commit changes

Signed-off-by: Vignesh T <[email protected]>

---------

Signed-off-by: Vignesh T <[email protected]>

* Precompute yaw trigonometric values in smac planner (ros-navigation#5109)

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

* removing the start navigation message in the paused state from rviz buttons (ros-navigation#5137)

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* Show error if inflation radius is smaller than circumscribed radius (ros-navigation#5148)

* Warn if inflation radius is smaller than circumscribed radius

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* Update nav2_mppi_controller/src/critics/cost_critic.cpp

Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>

* Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp

Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>

---------

Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Prevent MPPI controller from resetting speed limits upon goal execution. (ros-navigation#5165)

Signed-off-by: Leander Stephen D'Souza <[email protected]>

* Fixing docking server when already docked at the requeste ddock (ros-navigation#5171)

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* Adding parameter util to node utils (ros-navigation#5154)

* Adding declare_or_get_param util to node utils

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* Adding test for declare_or_get_param util

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* Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default

Signed-off-by: Marco Bassa <[email protected]>

* Update nav2_util/test/test_node_utils.cpp

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* Fixing codecove test

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* Catching possible exception in declare_or_get_by_type

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* Templating return type of declare parameter by value

Signed-off-by: Marco Bassa <[email protected]>

---------

Signed-off-by: Marco Bassa <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* added config for laserscan in lb-sim (ros-navigation#5174)

* added config for laserscan in lb-sim

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* fixing ament_flake8 errors

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

* review: use_inf is default:true and added parameters on readme ros-navigation#4992

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

* refactor: meaningfull value for scan_angle_increment

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

---------

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

* Publish planned footprints after smoothing (ros-navigation#5155)

* Publish planned footprints after smoothing

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* Revert "Publish planned footprints after smoothing"

This reverts commit c9b349a.

* Add smoothed footprints publishing

Signed-off-by: Tony Najjar <[email protected]>

* fix formatting

Signed-off-by: Tony Najjar <[email protected]>

* Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice

Signed-off-by: Tony Najjar <[email protected]>

* address PR comments

Signed-off-by: Tony Najjar <[email protected]>

* fixes

Signed-off-by: Tony Najjar <[email protected]>

* fix build error

Signed-off-by: Tony Najjar <[email protected]>

---------

Signed-off-by: Tony Najjar <[email protected]>

* fixing deprecation warning (ros-navigation#5182)

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

* Adding missing dep to loopback sim (ros-navigation#5204)

* Adding missing dep

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

* typo

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

* updating fix

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

---------

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

* Adding parameter warn_when_defaulting_parameters to control default parameter warnings (ros-navigation#5189)

* Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag

Signed-off-by: Marco Bassa <[email protected]>

* Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing

Signed-off-by: Marco Bassa <[email protected]>

* Using default false declaration instead of declare_or_get in param util

Signed-off-by: Marco Bassa <[email protected]>

---------

Signed-off-by: Marco Bassa <[email protected]>

* bumping to 1.3.7 for release

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

---------

Signed-off-by: Nils-ChristianIseke <[email protected]>
Signed-off-by: Guillaume Doisy <[email protected]>
Signed-off-by: Vignesh T <[email protected]>
Signed-off-by: mini-1235 <[email protected]>
Signed-off-by: Pradheep <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Marco Bassa <[email protected]>
Signed-off-by: RamanaBotta <[email protected]>
Co-authored-by: Nils-Christian Iseke <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Sandeep Dutta <[email protected]>
Co-authored-by: Vignesh T <[email protected]>
Co-authored-by: mini-1235 <[email protected]>
Co-authored-by: Pradheep Krishna <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
Co-authored-by: Leander Stephen D'Souza <[email protected]>
Co-authored-by: Marco Bassa <[email protected]>
Co-authored-by: Raman <[email protected]>
Co-authored-by: RamanaBotta <[email protected]>

* Fixing Jazzy CI via new ROS 2 keys

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

* Revert "Fix Ci from key signing (ros-navigation#5220)" (backport ros-navigation#5237) (ros-navigation#5239)

* Revert "Fix Ci from key signing (ros-navigation#5220)" (ros-navigation#5237)

* Revert "Fix Ci from key signing (ros-navigation#5220)"

This reverts the changes to the Dockerfile done in 1345c22.

Signed-off-by: Nils-Christian Iseke <[email protected]>

* Update Cache Version

Signed-off-by: Nils-Christian Iseke <[email protected]>

---------

Signed-off-by: Nils-Christian Iseke <[email protected]>
(cherry picked from commit 7f561b0)

# Conflicts:
#	.circleci/config.yml

* Update config.yml

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Nils-Christian Iseke <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Backport bidirectional settings ros-navigation#4954 (ros-navigation#5260)

Signed-off-by: Tatsuro Sakaguchi <[email protected]>

* Add namespace support for rviz costmap cost tool (ros-navigation#5271)

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

* Use fixed thresholds for Trinary yaml (ros-navigation#5278) (ros-navigation#5286)

(cherry picked from commit 829e683)

Signed-off-by: Adi Vardi <[email protected]>
Co-authored-by: Adi Vardi <[email protected]>

* Clear costmap around pose jazzy (backport ros-navigation#5309) (ros-navigation#5318)

* Adding clear costmap around pose service option (ros-navigation#5309)

(cherry picked from commit c0bf67e
Signed-off-by: dw25628 <[email protected]>

* Linting

Signed-off-by: dw25628 <[email protected]>

* Removed __init__.py that came in with cherry pick

Signed-off-by: dw25628 <[email protected]>

---------

Signed-off-by: dw25628 <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Backport "Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In" (ros-navigation#5378)

* Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In (ros-navigation#5187)

* Adding toggle option of keepout zone

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

* Default off

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

* Join conditions

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

* spell check

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

* copilot suggestions

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

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp

Co-authored-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>

* Update keepout_filter.cpp

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Leander Stephen D'Souza <[email protected]>

* Revert bringup params changes

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Maurice <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: Leander Stephen D'Souza <[email protected]>

* Adding minimum range to PC2 in collision monitor (backport ros-navigation#5392) (ros-navigation#5393)

* Adding minimum range to PC2 in collision monitor (ros-navigation#5392)

Signed-off-by: SteveMacenski <[email protected]>
(cherry picked from commit 40a0451)

# Conflicts:
#	nav2_collision_monitor/src/pointcloud.cpp

* Update pointcloud.cpp

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

* Update pointcloud.cpp

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

* Update sources_test.cpp

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

---------

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

* Construct TF listeners passing nodes, spinning on separate thread (backport ros-navigation#5406) (ros-navigation#5431)

* Construct TF listeners passing nodes, spinning on separate thread (ros-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]>
(cherry picked from commit 1468484)

# Conflicts:
#	nav2_route/src/route_server.cpp

* Delete nav2_route/src/route_server.cpp

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Patrick Roncagliolo <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Fix lifecycle manager deadlock during shutdown (ros-navigation#5448)

Signed-off-by: Jacob Visser <[email protected]>

* fix 5456 (ros-navigation#5458)

Signed-off-by: David G <[email protected]>

* backport the fix for setting binary_state as the default (ros-navigation#5459)

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

* Sync Jazzy Aug 19, 2025 1.4.1 (ros-navigation#5469)

* Conserve curvature with LIMIT action (ros-navigation#5255)

* Conserve curvature with LIMIT action

Signed-off-by: Tony Najjar <[email protected]>

* fix format

Signed-off-by: Tony Najjar <[email protected]>

* fix test

Signed-off-by: Tony Najjar <[email protected]>

---------

Signed-off-by: Tony Najjar <[email protected]>

* Adding epsilon for voxel_layer precision loss (ros-navigation#5314)

* Adding epsilon for voxel_layer precision loss

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

* Update nav2_costmap_2d/plugins/voxel_layer.cpp

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

* Update nav2_costmap_2d/plugins/voxel_layer.cpp

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

* Update nav2_costmap_2d/plugins/voxel_layer.cpp

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

---------

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

* fix: correct ThroughActionResult type alias in would_a_planner_recovery_help_condition (ros-navigation#5326)

The ThroughActionResult type alias was incorrectly referencing Action::Result 
instead of ThroughAction::Result, causing the condition to not work properly 
for ComputePathThroughPoses actions.

Fixes ros-navigation#5324

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* Adding slow down at target heading to RPP

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* Update test_regulated_pp.cpp

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* Eexception rethrow in dockRobot method (ros-navigation#5364)

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* Add global min obstacle height in voxel layer (ros-navigation#5389)

* Add min obstacle height in voxel layer

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* fix: Move SmootherParams declaration outside smooth_path conditional (ros-navigation#5473) (ros-navigation#5474)

Fixes crash when dynamically changing smooth_path parameter from false to true.
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Now SmootherParams are always declared, making them available for dynamic
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Fixes ros-navigation#5472


(cherry picked from commit 69a60df)

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* Replace last pose if only orientation differs in Navfn (ros-navigation#5490) (ros-navigation#5492)

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* Jazzy Sync Sept 19, 2025 1.3.9 (ros-navigation#5540)

* Fix dynamic param SmacPlannerLattice  (ros-navigation#5478)

* Fix SmacPlannerLattice dynamic parameter early exit

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* remove comment

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* Fix duplicate poses with computePlanThroughPoses (ros-navigation#5488)

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* Add a service for enabling/disabling the collision monitor (ros-navigation#5493)

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* Added initialization for collision monitor enable/disable service

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* Removed std_srvs package dependency

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* Fixed toggle service name

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* Update nav2_collision_monitor/src/collision_monitor_node.cpp

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* Added enabled check for logging

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* Made the getter const and added a comment

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* Replaced rclcpp::spin_some

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* bump Jazzy to 1.3.9 for release

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* Add support for dynamically changing keepout zone (ros-navigation#5429) (ros-navigation#5542)

* Add support for dynamically changing keepout zone



* Linting



* Revert binary and speed changes



---------


(cherry picked from commit e690ef0)

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* Fix bad_weak_ptr in createBond() by using shared_ptr (backport ros-navigation#5341) (ros-navigation#5563)

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* Fixed crash due to incorrect string construction (ros-navigation#5606) (ros-navigation#5613)

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* Add dependency on nav2_route in package.xml (ros-navigation#5639)

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* Revert ros-navigation#4971 in Jazzy (ros-navigation#5640)

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* Add

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* Bumping to 1.3.10 for urgent jazzy regression fixes (ros-navigation#5650)

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* Backporting custom height point field into Jazzy. (ros-navigation#5646)

* Summary commit of all changes for adding custom pointcloud field height. (ros-navigation#5586)

Doing this to clear out unsigned commits from history.

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* Corrected parameter declaration methods that aren't part of Jazzy.
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