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ros-navigation · Jan 10, 2025 · 849a0af · 849a0af
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diff --git a/.gitignore b/.gitignore
@@ -1 +1,4 @@
 _build
+lib/
+bin/
+pyvenv.cfg
diff --git a/about/roscon.rst b/about/roscon.rst
@@ -0,0 +1,29 @@
+.. _roscon:
+
+ROSCon Talks
+############
+
+Below is a list of ROSCon talks that have been given by the Nav2 team and the community which describe important features, tuning and configuration advice, and how to work with them in your applications.
+
+Nav2 Developer Talks
+--------------------
+
+- `ROSCon 2024: On Use of Nav2 Docking <https://vimeo.com/1024971348>`_
+- `ROSCon FR 2023: Nav2 Whys over What's: Navigating the Philosophies Behind the Features <https://www.youtube.com/watch?v=2W3zWO-msEo>`_
+- `ROSCon 2023: On Use of Nav2 MPPI Controller <https://vimeo.com/879001391>`_
+- `ROSCon 2023: Bidirectional navigation with Nav2 <https://vimeo.com/879000809>`_
+- `ROSCon 2022: On Use of Nav2 Smac Planners <https://vimeo.com/showcase/9954564/video/767157646>`_
+- `ROSCon JP 2021: The Past, Present, and Future of Navigation <https://vimeo.com/638041661/a5306a02ab>`_
+- `ROSCon 2021: Chronicles of Caching and Containerising CI for Nav2 <https://vimeo.com/649647161>`_
+- `ROSCon 2020: Navigation2: The Next Generation Navigation System <https://vimeo.com/showcase/7812155/video/480604621>`_
+- `ROSCon 2019: On Use of SLAM Toolbox <https://vimeo.com/378682207>`_
+- `ROSCon 2019: Navigation 2 Overview <https://vimeo.com/378682188>`_
+- `ROSCon 2018: On Use of the Spatio-Temporal Voxel Layer <https://vimeo.com/292699571>`_
+
+Community's Talks
+-----------------
+
+- `ROSCon ES 2024: Navegación robusta en ROS2 <https://vimeo.com/showcase/11453818/video/1029492785>`_
+- `ROSCon 2022: BehaviorTree.CPP 4.0. What is new and roadmap <https://vimeo.com/showcase/9954564/video/767160437>`_
+- `ROSCon 2024: Mobile Robotics Scale-up Leveraging ROS <https://vimeo.com/1024971160>`_
+- `ROSCon 2024: Radar Tracks for Path Planning in the presence of Dynamic Obstacles <https://vimeo.com/1024971565>`_
diff --git a/commander_api/index.rst b/commander_api/index.rst
@@ -74,13 +74,16 @@ New as of September 2023: the simple navigator constructor will accept a `namesp
 | goal_checker_id='')                   | ``PoseStamped``, ``nav_msgs/Path``.                                        |
 +---------------------------------------+----------------------------------------------------------------------------+
 | spin(spin_dist=1.57,                  | Requests the robot to performs an in-place rotation by a given angle.      |
-| time_allowance=10)                    |                                                                            |
+| time_allowance=10,                    |                                                                            |
+| disable_collision_checks=False)       |                                                                            |
 +---------------------------------------+----------------------------------------------------------------------------+
 | driveOnHeading(dist=0.15,             | Requests the robot to drive on heading by a given distance.                |
-| speed=0.025, time_allowance=10)       |                                                                            |
+| speed=0.025, time_allowance=10,       |                                                                            |
+| disable_collision_checks=False)       |                                                                            |
 +---------------------------------------+----------------------------------------------------------------------------+
 | backup(backup_dist=0.15,              | Requests the robot to back up by a given distance.                         |
-| backup_speed=0.025, time_allowance=10)|                                                                            |
+| backup_speed=0.025, time_allowance=10,|                                                                            |
+| disable_collision_checks=False)       |                                                                            |
 +---------------------------------------+----------------------------------------------------------------------------+
 | assistedTeleop(time_allowance=30)     | Requests the robot to run the assisted teleop action.                      |
 +---------------------------------------+----------------------------------------------------------------------------+

diff --git a/configuration/packages/bt-plugins/actions/BackUp.rst b/configuration/packages/bt-plugins/actions/BackUp.rst
@@ -67,6 +67,17 @@ Input Ports
   Description
     	Action server timeout (ms).
 
+:disable_collision_checks:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false
+  ====== =======
+
+  Description
+      Disable collision checking.
+
 Output Ports
 ------------
 
@@ -86,4 +97,4 @@ Example
 
 .. code-block:: xml
 
-  <BackUp backup_dist="-0.2" backup_speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{backup_error_code}"/>
+  <BackUp backup_dist="-0.2" backup_speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{backup_error_code}" disable_collision_checks="false"/>
diff --git a/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst b/configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst
@@ -23,11 +23,11 @@ Input Ports
 
 :goals:
 
-  ============================================= =======
-  Type                                          Default
-  --------------------------------------------- -------
-  vector<geometry_msgs::msg::PoseStamped>         N/A  
-  ============================================= =======
+  ===================================== =======
+  Type                                  Default
+  ------------------------------------- -------
+  geometry_msgs::msg::PoseStampedArray    N/A  
+  ===================================== =======
 
   Description
     	Goal poses. Takes in a blackboard variable, e.g. "{goals}".

diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.rst b/configuration/packages/bt-plugins/actions/DriveOnHeading.rst
@@ -66,6 +66,17 @@ Input Ports
   Description
     	Action server timeout (ms).
 
+:disable_collision_checks:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false
+  ====== =======
+
+  Description
+      Disable collision checking.
+
 Output Ports
 ------------
 
@@ -85,4 +96,4 @@ Example
 
 .. code-block:: xml
 
-  <DriveOnHeading dist_to_travel="0.2" speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{drive_on_heading_error_code}"/>
+  <DriveOnHeading dist_to_travel="0.2" speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{drive_on_heading_error_code}" disable_collision_checks="false"/>
diff --git a/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst b/configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst
@@ -12,11 +12,11 @@ Input Ports
 
 :goals:
 
-  ============================================= =======
-  Type                                          Default
-  --------------------------------------------- -------
-  vector<geometry_msgs::msg::PoseStamped>         N/A  
-  ============================================= =======
+  ==================================== =======
+  Type                                 Default
+  ------------------------------------ -------
+  geometry_msgs::msg::PoseStampedArray   N/A  
+  ==================================== =======
 
   Description
       Goal poses. Takes in a blackboard variable, e.g. "{goals}".

diff --git a/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst b/configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst
@@ -22,11 +22,11 @@ Input Ports
 
 :input_goals:
 
-  =============================== =======
-  Type                            Default
-  ------------------------------- -------
-  geometry_msgs::msg::PoseStamped   N/A  
-  =============================== =======
+  ==================================== =======
+  Type                                 Default
+  ------------------------------------ -------
+  geometry_msgs::msg::PoseStampedArray   N/A  
+  ==================================== =======
 
   Description
     A vector of goals to check if in collision

diff --git a/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst b/configuration/packages/bt-plugins/actions/RemovePassedGoals.rst
@@ -33,11 +33,11 @@ Input Ports
 
 :input_goals:
 
-  ===================================== =======
-  Type                                  Default
-  ------------------------------------- -------
-  geometry_msgs::msg::PoseStamped         N/A  
-  ===================================== =======
+  ==================================== =======
+  Type                                 Default
+  ------------------------------------ -------
+  geometry_msgs::msg::PoseStampedArray   N/A  
+  ==================================== =======
 
   Description
     A vector of goals to check if it passed any in the current iteration.
@@ -47,11 +47,11 @@ Output Ports
 
 :output_goals:
 
-  ===================================== =======
-  Type                                  Default
-  ------------------------------------- -------
-  geometry_msgs::msg::PoseStamped         N/A  
-  ===================================== =======
+  ==================================== =======
+  Type                                 Default
+  ------------------------------------ -------
+  geometry_msgs::msg::PoseStampedArray   N/A  
+  ==================================== =======
 
   Description
     A vector of goals with goals removed in proximity to the robot

diff --git a/configuration/packages/bt-plugins/actions/Spin.rst b/configuration/packages/bt-plugins/actions/Spin.rst
@@ -67,6 +67,17 @@ Input Ports
   Description
     	True if the action is being used as a recovery.
 
+:disable_collision_checks:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false
+  ====== =======
+
+  Description
+      Disable collision checking.
+
 Output Ports
 ------------
 
@@ -86,5 +97,5 @@ Example
 
 .. code-block:: xml
 
-  <Spin spin_dist="1.57" server_name="spin" server_timeout="10" is_recovery="true" error_code_id="{spin_error_code}"/>
+  <Spin spin_dist="1.57" server_name="spin" server_timeout="10" is_recovery="true" error_code_id="{spin_error_code}" disable_collision_checks="false"/>
 
diff --git a/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst b/configuration/packages/bt-plugins/conditions/GloballyUpdatedGoal.rst
@@ -25,11 +25,11 @@ Input Ports
 
 :goals:
 
-  ============================================ =========
-  Type                                         Default
-  -------------------------------------------- ---------
-  std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
-  ============================================ =========
+  ==================================== =========
+  Type                                 Default
+  ------------------------------------ ---------
+  geometry_msgs::msg::PoseStampedArray "{goals}"
+  ==================================== =========
 
   Description
     	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

diff --git a/configuration/packages/bt-plugins/conditions/GoalUpdated.rst b/configuration/packages/bt-plugins/conditions/GoalUpdated.rst
@@ -22,11 +22,11 @@ Input Ports
 
 :goals:
 
-  ============================================ =========
-  Type                                         Default
-  -------------------------------------------- ---------
-  std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
-  ============================================ =========
+  ==================================== =========
+  Type                                 Default
+  ------------------------------------ ---------
+  geometry_msgs::msg::PoseStampedArray "{goals}"
+  ==================================== =========
 
   Description
     	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

diff --git a/configuration/packages/bt-plugins/decorators/SpeedController.rst b/configuration/packages/bt-plugins/decorators/SpeedController.rst
@@ -79,11 +79,11 @@ Input Ports
 
 :goals:
 
-  ============================================ =========
-  Type                                         Default
-  -------------------------------------------- ---------
-  std::vector<geometry_msgs::msg::PoseStamped> "{goals}"
-  ============================================ =========
+  ==================================== =========
+  Type                                 Default
+  ------------------------------------ ---------
+  geometry_msgs::msg::PoseStampedArray "{goals}"
+  ==================================== =========
 
   Description
     	Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
@@ -200,12 +200,13 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 Polygons parameters
 ===================
@@ -608,7 +609,7 @@ Here is an example of configuration YAML for the Collision Monitor.
         source_timeout: 5.0
         base_shift_correction: True
         stop_pub_timeout: 2.0
-        enable_stamped_cmd_vel: False
+        enable_stamped_cmd_vel: True  # False for Jazzy or older
         use_realtime_priority: false
         polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"]
         PolygonStop:

diff --git a/configuration/packages/configuring-behavior-server.rst b/configuration/packages/configuring-behavior-server.rst
@@ -233,12 +233,13 @@ Spin distance is given from the action request
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 
 BackUp Behavior Parameters
@@ -262,12 +263,13 @@ Backup distance, speed and time_allowance is given from the action request.
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 DriveOnHeading Behavior Parameters
 **********************************
@@ -290,12 +292,13 @@ DriveOnHeading distance, speed and time_allowance is given from the action reque
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :bond_heartbeat_period:
 
@@ -351,12 +354,13 @@ AssistedTeleop time_allowance is given in the action request
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 Example
 *******
@@ -388,4 +392,4 @@ Example
         max_rotational_vel: 1.0
         min_rotational_vel: 0.4
         rotational_acc_lim: 3.2
-        enable_stamped_cmd_vel: false
+        enable_stamped_cmd_vel: true  # default false in Jazzy or older
diff --git a/configuration/packages/configuring-controller-server.rst b/configuration/packages/configuring-controller-server.rst
@@ -210,12 +210,13 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  bool           false
+  bool           true
   ============== =============================
 
   Description
     Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data.
     True uses TwistStamped, false uses Twist.
+    Note: This parameter is default ``false`` in Jazzy or older! Kilted or newer uses ``TwistStamped`` by default.
 
 :bond_heartbeat_period:
 

diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst
@@ -90,17 +90,6 @@ Costmap2D ROS Parameters
   Description
     Minimum cost of an occupancy grid map to be considered a lethal obstacle.
 
-:map_topic:
-
-  ============== =======
-  Type           Default
-  -------------- -------
-  string         "map"   
-  ============== =======
-
-  Description
-    Topic of map from map_server or SLAM.
-
 :map_vis_z:
 
   ============== =======
@@ -360,6 +349,7 @@ Plugin Parameters
   costmap-plugins/voxel.rst
   costmap-plugins/range.rst
   costmap-plugins/denoise.rst
+  costmap-plugins/plugin_container.rst
 
 Costmap Filters Parameters
 **************************