ros-navigation · SteveMacenski · May 30, 2025 · Apr 15, 2025 · Apr 16, 2025 · Apr 16, 2025
diff --git a/nav2_amcl/package.xml b/nav2_amcl/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_amcl</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
@@ -79,7 +79,11 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
       {
         BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
         BT::InputPort<geometry_msgs::msg::PoseStamped>(
-          "start", "Start pose of the path if overriding current robot pose"),
+          "start",
+          "Used as the planner start pose instead of the current robot pose, if use_start is"
+                   " not false (i.e. not provided or set to true)"),
+        BT::InputPort<bool>(
+          "use_start", "For using or not using (i.e. ignoring) the provided start pose"),
         BT::InputPort<std::string>(
           "planner_id", "",
           "Mapped name to the planner plugin type to use"),

diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -74,7 +74,8 @@
 
     <Action ID="ComputePathToPose">
       <input_port name="goal">Destination to plan to</input_port>
-      <input_port name="start">Start pose of the path if overriding current robot pose</input_port>
+      <input_port name="start">Use as the planner start pose instead of the current robot pose, if use_start is not false (i.e. not provided or set to true)</input_port>
+      <input_port name="use_start">For using or not using (i.e. ignoring) the provided start pose</input_port>
       <input_port name="planner_id">Mapped name to the planner plugin type to use</input_port>
       <input_port name="server_name">Server name</input_port>
       <input_port name="server_timeout">Server timeout</input_port>

diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behavior_tree</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Nav2 behavior tree wrappers, nodes, and utilities</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>

diff --git a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
@@ -32,8 +32,25 @@
 {
   getInput("goal", goal_.goal);
   getInput("planner_id", goal_.planner_id);
-  if (getInput("start", goal_.start)) {
-    goal_.use_start = true;
+
+  // if "use_start" is provided try to enforce it (true or false), but we cannot enforce true if
+  // start is not provided
+  goal_.use_start = false;
+  if (getInput("use_start", goal_.use_start)) {
+    if (goal_.use_start && !getInput("start", goal_.start)) {
+      // in case we don't have a "start" pose
+      goal_.use_start = false;
+      RCLCPP_ERROR(
+          node_->get_logger(),
+          "use_start is set to true but no start pose was provided, falling back to default "
+          "behavior, i.e. using the current robot pose");
+    }
+  } else {
+    // else if "use_start" is not provided, but "start" is, then use it in order to not change
+    // the legacy behavior
+    if (getInput("start", goal_.start)) {
+      goal_.use_start = true;
+    }
   }
 }
 

diff --git a/nav2_behaviors/package.xml b/nav2_behaviors/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behaviors</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Nav2 behavior server</description>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bringup</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Bringup scripts and configurations for the Nav2 stack</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -437,3 +437,9 @@ loopback_simulator:
     map_frame_id: "map"
     scan_frame_id: "base_scan"  # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
     update_duration: 0.02
+    scan_range_min: 0.05
+    scan_range_max: 30.0
+    scan_angle_min: -3.1415
+    scan_angle_max: 3.1415
+    scan_angle_increment: 0.02617
+    scan_use_inf: true
diff --git a/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bt_navigator</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Nav2 BT Navigator Server</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_collision_monitor/package.xml b/nav2_collision_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_collision_monitor</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Collision Monitor</description>
   <maintainer email="alexey.merzlyakov@samsung.com">Alexey Merzlyakov</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

diff --git a/nav2_common/package.xml b/nav2_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_common</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Common support functionality used throughout the navigation 2 stack</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_constrained_smoother/package.xml b/nav2_constrained_smoother/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_constrained_smoother</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Ceres constrained smoother</description>
   <maintainer email="vargovcik@robotechvision.com">Matej Vargovcik</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

diff --git a/nav2_controller/package.xml b/nav2_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_controller</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Controller action interface</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_core/package.xml b/nav2_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_core</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>A set of headers for plugins core to the Nav2 stack</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>

diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_topic_collision_checker.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_topic_collision_checker.hpp
@@ -48,6 +48,15 @@ class CostmapTopicCollisionChecker
     FootprintSubscriber & footprint_sub,
     std::string name = "collision_checker");
 
+  /**
+   * @brief Alternative constructor with a footprint string instead of a subscriber. It needs to be
+   * defined relative to the robot frame
+   */
+  CostmapTopicCollisionChecker(
+    CostmapSubscriber & costmap_sub,
+    std::string footprint_string,
+    std::string name = "collision_checker");
+
   /**
    * @brief A destructor
    */
@@ -90,10 +99,11 @@ class CostmapTopicCollisionChecker
   // Name used for logging
   std::string name_;
   CostmapSubscriber & costmap_sub_;
-  FootprintSubscriber & footprint_sub_;
+  FootprintSubscriber * footprint_sub_ = nullptr;
   FootprintCollisionChecker<std::shared_ptr<Costmap2D>> collision_checker_;
   rclcpp::Clock::SharedPtr clock_;
   Footprint footprint_;
+  std::string footprint_string_;
 };
 
 }  // namespace nav2_costmap_2d

diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format ="3">
   <name>nav2_costmap_2d</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>
     This package provides an implementation of a 2D costmap that takes in sensor
     data from the world, builds a 2D or 3D occupancy grid of the data (depending

diff --git a/nav2_costmap_2d/src/costmap_topic_collision_checker.cpp b/nav2_costmap_2d/src/costmap_topic_collision_checker.cpp
@@ -38,10 +38,23 @@
   std::string name)
 : name_(name),
   costmap_sub_(costmap_sub),
-  footprint_sub_(footprint_sub),
+  footprint_sub_(&footprint_sub),
   collision_checker_(nullptr)
 {}
 
+CostmapTopicCollisionChecker::CostmapTopicCollisionChecker(
+  CostmapSubscriber & costmap_sub,
+  std::string footprint_string,
+  std::string name)
+: name_(name),
+  costmap_sub_(costmap_sub),
+  collision_checker_(nullptr)
+{
+  if (!makeFootprintFromString(footprint_string, footprint_)) {
+    throw CollisionCheckerException("Failed to create footprint from string");
+  }
+}
+
 bool CostmapTopicCollisionChecker::isCollisionFree(
   const geometry_msgs::msg::Pose2D & pose,
   bool fetch_costmap_and_footprint)
@@ -90,7 +103,10 @@
 {
   if (fetch_latest_footprint) {
     std_msgs::msg::Header header;
-    if (!footprint_sub_.getFootprintInRobotFrame(footprint_, header)) {
+
+    // if footprint_sub_ was not initialized (alternative constructor), we are using the
+    // footprint built from the footprint_string alternative constructor argument.
+    if (footprint_sub_ && !footprint_sub_->getFootprintInRobotFrame(footprint_, header)) {
       throw CollisionCheckerException("Current footprint not available.");
     }
   }

diff --git a/nav2_docking/opennav_docking/package.xml b/nav2_docking/opennav_docking/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>opennav_docking</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>A Task Server for robot charger docking</description>
   <maintainer email="steve@opennav.org">Steve Macenski</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -242,6 +242,8 @@
     if (dock->plugin->isCharger() && (dock->plugin->isDocked() || dock->plugin->isCharging())) {
       RCLCPP_INFO(
         get_logger(), "Robot is already docked and/or charging (if applicable), no need to dock");
+      result->success = true;
+      docking_action_server_->succeeded_current(result);
       return;
     }
 

diff --git a/nav2_docking/opennav_docking/test/CMakeLists.txt b/nav2_docking/opennav_docking/test/CMakeLists.txt
@@ -55,8 +55,11 @@ target_link_libraries(test_simple_charging_dock
 ament_add_gtest(test_simple_non_charging_dock
   test_simple_non_charging_dock.cpp
 )
-ament_target_dependencies(test_simple_non_charging_dock
-  ${dependencies}
+target_link_libraries(test_simple_non_charging_dock
+  ${geometry_msgs_TARGETS}
+  ${library_name}
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
 )
 target_link_libraries(test_simple_non_charging_dock
   ${library_name} simple_non_charging_dock

diff --git a/nav2_docking/opennav_docking_bt/package.xml b/nav2_docking/opennav_docking_bt/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>opennav_docking_bt</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>A set of BT nodes and XMLs for docking</description>
   <maintainer email="steve@opennav.org">Steve Macenski</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_docking/opennav_docking_core/package.xml b/nav2_docking/opennav_docking_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>opennav_docking_core</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>A set of headers for plugins core to the opennav docking framework</description>
   <maintainer email="steve@opennav.org">Steve Macenski</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_dwb_controller/costmap_queue/package.xml b/nav2_dwb_controller/costmap_queue/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>costmap_queue</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>The costmap_queue package</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_dwb_controller/dwb_core/package.xml b/nav2_dwb_controller/dwb_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dwb_core</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>DWB core interfaces package</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_dwb_controller/dwb_critics/package.xml b/nav2_dwb_controller/dwb_critics/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>dwb_critics</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>The dwb_critics package</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_dwb_controller/dwb_msgs/package.xml b/nav2_dwb_controller/dwb_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dwb_msgs</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Message/Service definitions specifically for the dwb_core</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_dwb_controller/dwb_plugins/package.xml b/nav2_dwb_controller/dwb_plugins/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>dwb_plugins</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>
       Standard implementations of the GoalChecker
       and TrajectoryGenerators for dwb_core

diff --git a/nav2_dwb_controller/nav2_dwb_controller/package.xml b/nav2_dwb_controller/nav2_dwb_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_dwb_controller</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>
     ROS2 controller (DWB) metapackage
   </description>

diff --git a/nav2_dwb_controller/nav_2d_msgs/package.xml b/nav2_dwb_controller/nav_2d_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav_2d_msgs</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Basic message types for two dimensional navigation, extending from geometry_msgs::Pose2D.</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_dwb_controller/nav_2d_utils/package.xml b/nav2_dwb_controller/nav_2d_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav_2d_utils</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>A handful of useful utility functions for nav_2d packages.</description>
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_graceful_controller/package.xml b/nav2_graceful_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_graceful_controller</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>Graceful motion controller</description>
   <maintainer email="ajtudela@gmail.com">Alberto Tudela</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_lifecycle_manager/package.xml b/nav2_lifecycle_manager/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_lifecycle_manager</name>
-  <version>1.3.6</version>
+  <version>1.3.7</version>
   <description>A controller/manager for the lifecycle nodes of the Navigation 2 system</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_loopback_sim/README.md b/nav2_loopback_sim/README.md
@@ -42,6 +42,13 @@ ros2 launch nav2_bringup tb4_loopback_simulation.launch.py  # Nav2 integrated na
 - `scan_publish_dur`: : The duration between publishing scan (default 0.1s -- 10hz)
 - `publish_map_odom_tf`: Whether or not to publish tf from `map_frame_id` to `odom_frame_id` (default `true`)
 - `publish_clock`: Whether or not to publish simulated clock to `/clock` (default `true`)
+- `scan_range_min`: Minimum measurable distance from the scan in meters. Values below this are considered invalid (default: `0.05`)
+- `scan_range_max`: Maximum measurable distance from the scan in meters. Values beyond this are out of range (default: `30.0`)
+- `scan_angle_min`: Starting angle of the scan in radians (leftmost angle) (default: `-π` / `-3.1415`)
+- `scan_angle_max`: Ending angle of the scan in radians (rightmost angle) (default: `π` / `3.1415`)
+- `scan_angle_increment`: Angular resolution of the scan in radians (angle between consecutive measurements) (default: `0.02617`)
+- `scan_use_inf`: Whether to use `inf` for out-of-range values. If `false`, uses `scan_range_max - 0.1` instead (default: `True`)
+
 
 ### Topics