Kilted Sync Sept 19, 2025 1.4.2 (#5539)

* Return early from edge interpolation for zero-length edges (#5453)

* Return early from edge interpolation for zero-length edges

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

* Move the check and add a test

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

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Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

* nav2_route vizualization marker rendering performance improvement (#5452)

* nav2_route vizualization marker use sphere_list and line_list for rendering performance

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

* Fix unit test and break out magic constants into named values

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

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Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

* Fix dynamic param SmacPlannerLattice  (#5478)

* Fix SmacPlannerLattice dynamic parameter early exit

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* remove comment

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

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Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Fix duplicate poses with computePlanThroughPoses (#5488)

* fix-duplicate-poses

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Update nav2_planner/src/planner_server.cpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

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Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Fix seg fault (#5501)

* Fix segmentation fault

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix linting

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

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Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Route graph vis fixes: Fixes regressions from #5452 (#5507)

* Fixes for route graph

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Fix route graph vis

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

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Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Removing openMP dep on MPPI (#5506)

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Add debug topic to visualize whether MPPI critic has an effect on costs (#5485)

* Publish criticsStats

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* linting

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* change header to stamp

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* make unique_pointer

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* typo

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Add readme

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* add to readme

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fixes

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

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Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix(nav2_theta_star_planner): Correct typo in CMakeLists ament_export_dependencies (#5514)

Signed-off-by: JPLDevMaster <joao.penha.lopes@tecnico.ulisboa.pt>

* Fix/dependency and header (#5520)

* Add missing dependency declaration

Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com>

* Remove unused header

Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com>

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Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com>

* bump to 1.4.2 for kilted release

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Adding critic manager for refactor

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Update API refactor

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* API updates

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Fix formatting issues in critic_manager.hpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
Signed-off-by: JPLDevMaster <joao.penha.lopes@tecnico.ulisboa.pt>
Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com>
Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>
Co-authored-by: João Penha Lopes <123633705+JPLDevMaster@users.noreply.github.com>
Co-authored-by: Sushant Chavan <sushant.chavan@idealworks.com>

Author: 5 people

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>1.4.1</version>
+  <version>1.4.2</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

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>1.4.1</version>
+  <version>1.4.2</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>

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>1.4.1</version>
+  <version>1.4.2</version>
   <description>Nav2 behavior server</description>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

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>1.4.1</version>
+  <version>1.4.2</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>

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>1.4.1</version>
+  <version>1.4.2</version>
   <description>Nav2 BT Navigator Server</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>

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>1.4.1</version>
+  <version>1.4.2</version>
   <description>Collision Monitor</description>
   <maintainer email="alexey.merzlyakov@samsung.com">Alexey Merzlyakov</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

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>1.4.1</version>
+  <version>1.4.2</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>

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>1.4.1</version>
+  <version>1.4.2</version>
   <description>Ceres constrained smoother</description>
   <maintainer email="vargovcik@robotechvision.com">Matej Vargovcik</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

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>1.4.1</version>
+  <version>1.4.2</version>
   <description>Controller action interface</description>
   <maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
   <license>Apache-2.0</license>

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>1.4.1</version>
+  <version>1.4.2</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>