Sync kilted Aug 19, 2025 1.4.1 #5468

SteveMacenski · 2025-08-19T22:41:08Z

Latest Kilted Sync on August 19, 2025

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

* min_distance_to_obstacle Signed-off-by: Guillaume Doisy <[email protected]> * suggestion to time base and combine Signed-off-by: Guillaume Doisy <[email protected]> * typo Signed-off-by: Guillaume Doisy <[email protected]> * use min_approach_linear_velocity Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

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

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

) Signed-off-by: Silvio Traversaro <[email protected]>

Signed-off-by: Silvio Traversaro <[email protected]>

* 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]>

…ry_help_condition (#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 #5324 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

* outputting tracker feedback on BT node Signed-off-by: Alexander Yuen <[email protected]> * initializing outputs Signed-off-by: Alexander Yuen <[email protected]> * outputting last state on success Signed-off-by: Alexander Yuen <[email protected]> * linting Signed-off-by: Alexander Yuen <[email protected]> * fixed nav2_tree_nodes.xml Signed-off-by: Alexander Yuen <[email protected]> * Update nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: alexanderjyuen <[email protected]> * consolidated function to set outputs null, only setOutput with active feedback Signed-off-by: Alexander Yuen <[email protected]> * add class to method Signed-off-by: Alexander Yuen <[email protected]> * linting Signed-off-by: Alexander Yuen <[email protected]> --------- Signed-off-by: Alexander Yuen <[email protected]> Signed-off-by: alexanderjyuen <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

* Adding slow down at target heading to RPP Signed-off-by: SteveMacenski <[email protected]> * Update test_regulated_pp.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]>

…5363) Signed-off-by: Alberto Tudela <[email protected]>

Signed-off-by: Alberto Tudela <[email protected]>

* Add min obstacle height in voxel layer Signed-off-by: mini-1235 <[email protected]> * Fix linting Signed-off-by: Maurice <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice <[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]>

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

…#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]>

* 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]>

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

* Support loading multiple behavior tree files as subtrees Signed-off-by: Jad El Hajj <[email protected]> * Fix code style Signed-off-by: Jad El Hajj <[email protected]> * Added default param value Signed-off-by: Jad El Hajj <[email protected]> * Added recursive check to loadBehaviorTree and adapted unit test accordingly Signed-off-by: Jad El Hajj <[email protected]> * Removed nested loadBehaviorTree check in navigators Signed-off-by: Jad El Hajj <[email protected]> * Removed whitespace cpplint Signed-off-by: Jad El Hajj <[email protected]> * Fixed goalReceived Signed-off-by: Jad El Hajj <[email protected]> * Let loadbehaviorTree use its own search_directories var Signed-off-by: Jad El Hajj <[email protected]> * PR fixes-format-lint and test Signed-off-by: Jad El Hajj <[email protected]> * fix pointer Signed-off-by: Jad El Hajj <[email protected]> * Added unit test for BT xml validity Signed-off-by: Jad El Hajj <[email protected]> * CPPLint Signed-off-by: Jad El Hajj <[email protected]> * Check non existent search directory for bt Signed-off-by: Jad El Hajj <[email protected]> * CPPLint Signed-off-by: Jad El Hajj <[email protected]> * Fixed BT tests Signed-off-by: Jad El Hajj <[email protected]> * Fixed BT tests Signed-off-by: Jad El Hajj <[email protected]> --------- Signed-off-by: Jad El Hajj <[email protected]>

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

codecov · 2025-08-20T17:36:46Z

Codecov Report

❌ Patch coverage is 80.91603% with 25 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
.../plugins/action/compute_and_track_route_action.cpp	67.85%	9 Missing ⚠️
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	66.66%	4 Missing ⚠️
..._pure_pursuit_controller/src/collision_checker.cpp	42.85%	4 Missing ⚠️
nav2_costmap_2d/plugins/voxel_layer.cpp	75.00%	3 Missing ⚠️
nav2_smac_planner/src/smac_planner_hybrid.cpp	82.35%	3 Missing ⚠️
...av2_docking/opennav_docking/src/docking_server.cpp	0.00%	1 Missing ⚠️
nav2_mppi_controller/src/optimizer.cpp	50.00%	1 Missing ⚠️

Files with missing lines	Coverage Δ
...mcl/src/motion_model/differential_motion_model.cpp	`100.00% <ø> (ø)`
...nclude/nav2_behavior_tree/behavior_tree_engine.hpp	`100.00% <ø> (ø)`
...ee/include/nav2_behavior_tree/bt_action_server.hpp	`83.33% <ø> (ø)`
.../plugins/action/compute_and_track_route_action.hpp	`100.00% <100.00%> (ø)`
nav2_behavior_tree/src/behavior_tree_engine.cpp	`83.87% <100.00%> (ø)`
...avigator/src/navigators/navigate_through_poses.cpp	`88.23% <ø> (ø)`
...2_bt_navigator/src/navigators/navigate_to_pose.cpp	`83.33% <ø> (ø)`
...core/include/nav2_core/behavior_tree_navigator.hpp	`89.65% <100.00%> (ø)`
...ostmap_2d/include/nav2_costmap_2d/static_layer.hpp	`100.00% <ø> (ø)`
...tmap_2d/plugins/costmap_filters/costmap_filter.cpp	`89.33% <100.00%> (ø)`
... and 18 more

🚀 New features to boost your workflow:

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

doisyg and others added 22 commits August 19, 2025 15:20

enable_groot_monitoring_ false (#5246)

8adf053

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

Parametrizing obstacle layer tf filter tolerance (#5261)

84fac16

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

Fix backport compiler warning (#5277)

ae03eee

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

Add missing include of algorithm in differential_motion_model.cpp (#5293

88bf273

) Signed-off-by: Silvio Traversaro <[email protected]>

Remove unused unistd.h header from route_tool.cpp (#5292)

7334d03

Signed-off-by: Silvio Traversaro <[email protected]>

Include <stdexcept> in docking_exceptions.hpp for exception handling (#…

cf73325

…5363) Signed-off-by: Alberto Tudela <[email protected]>

Eexception rethrow in dockRobot method (#5364)

41a82d6

Signed-off-by: Alberto Tudela <[email protected]>

[DEX] Enforce 3 digits precision (#5398)

5111c27

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

corner case bin check (#5413)

e1536b8

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

Fix KeepoutFilter on the ARM architecture (#5436)

f62e44e

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

Fix missing dependency (#5460)

3c68548

bump 1.4.0 to 1.4.1 for aug 19 sync

b456b22

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

SteveMacenski changed the base branch from main to kilted August 19, 2025 22:43

ros-navigation deleted a comment from mergify bot Aug 19, 2025

Fixing backport error

614e677

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

SteveMacenski changed the title ~~Sync kilted Aug 19, 2025~~ Sync kilted Aug 19, 2025 1.4.1 Aug 19, 2025

SteveMacenski added 2 commits August 19, 2025 16:51

load balance CI

fce09e0

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

Fixing BT Navigator backport merge conflict issue

384c667

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

SteveMacenski merged commit 47f84de into kilted Aug 20, 2025
12 of 13 checks passed

SteveMacenski deleted the sync_kilted branch August 20, 2025 17:39

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Sync kilted Aug 19, 2025 1.4.1 #5468

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