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SteveMacenskitonynajjarcoderbaibaiclaude[bot]ajtudela
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Sync Jazzy Aug 19, 2025 1.4.1 (#5469)
* Conserve curvature with LIMIT action (#5255) * Conserve curvature with LIMIT action Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix format Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Adding epsilon for voxel_layer precision loss (#5314) * Adding epsilon for voxel_layer precision loss Signed-off-by: bhx <1273698633@qq.com> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: bhx <1273698633@qq.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fix: correct ThroughActionResult type alias in would_a_planner_recovery_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> * Adding slow down at target heading to RPP Controller (#5361) * Adding slow down at target heading to RPP Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Update test_regulated_pp.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Eexception rethrow in dockRobot method (#5364) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add global min obstacle height in voxel layer (#5389) * Add min obstacle height in voxel layer Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix linting Signed-off-by: Maurice <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com> * [DEX] Enforce 3 digits precision (#5398) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [static_layer] limit comparison precision (#5405) * [DEX] limit comparison precision Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * EPSILON 1e-5 Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Smooth path even if goal pose is so much near to the robot (#5423) * Smooth path even if goal pose is so much near to the robot Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Apply suggestions Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Remove unnecessary diff Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Fix KeepoutFilter on the ARM architecture (#5436) Signed-off-by: Sushant Chavan <gitecsvc@gmail.com> * Fix missing dependency (#5460) * bump to 1.3.8 for Jazzy release Aug 19, 2025 Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * load balance CI Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: bhx <1273698633@qq.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Signed-off-by: Sushant Chavan <gitecsvc@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: hutao <108395177+coderbaibai@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Cihat Kurtuluş Altıparmak <cihataltiparmak1@gmail.com> Co-authored-by: Sushant Chavan <gitecsvc@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>
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‎.circleci/config.yml‎

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_parameters:
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release_parameters: &release_parameters
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packages_skip_regex: "nav2_system_tests"
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packages_skip_regex: "'(nav2_system_tests|nav2_smac_planner|nav2_mppi_controller|nav2_route|nav2_rviz_plugins|nav2_rotation_shim_controller|nav2_waypoint_follower|nav2_smoother|opennav_docking|nav2_behaviors|nav2_bringup|navigation2)'"
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workflows:
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version: 2

‎nav2_amcl/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_amcl</name>
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<version>1.3.7</version>
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<version>1.3.8</version>
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<description>
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<p>
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amcl is a probabilistic localization system for a robot moving in

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.hpp‎

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@@ -29,7 +29,7 @@ class WouldAPlannerRecoveryHelp : public AreErrorCodesPresent
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using Action = nav2_msgs::action::ComputePathToPose;
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using ActionResult = Action::Result;
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using ThroughAction = nav2_msgs::action::ComputePathThroughPoses;
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using ThroughActionResult = Action::Result;
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using ThroughActionResult = ThroughAction::Result;
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public:
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WouldAPlannerRecoveryHelp(

‎nav2_behavior_tree/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_behavior_tree</name>
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<version>1.3.7</version>
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<version>1.3.8</version>
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<description>Nav2 behavior tree wrappers, nodes, and utilities</description>
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<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
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<maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>

‎nav2_behaviors/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_behaviors</name>
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<version>1.3.7</version>
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<version>1.3.8</version>
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<description>Nav2 behavior server</description>
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<maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

‎nav2_bringup/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_bringup</name>
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<version>1.3.7</version>
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<version>1.3.8</version>
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<description>Bringup scripts and configurations for the Nav2 stack</description>
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<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

‎nav2_bt_navigator/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_bt_navigator</name>
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<version>1.3.7</version>
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<version>1.3.8</version>
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<description>Nav2 BT Navigator Server</description>
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<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
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<license>Apache-2.0</license>

‎nav2_collision_monitor/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_collision_monitor</name>
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<version>1.3.7</version>
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<version>1.3.8</version>
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<description>Collision Monitor</description>
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<maintainer email="alexey.merzlyakov@samsung.com">Alexey Merzlyakov</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

‎nav2_collision_monitor/src/collision_monitor_node.cpp‎

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const double linear_vel = std::hypot(velocity.x, velocity.y); // absolute
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Velocity safe_vel;
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double ratio = 1.0;
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// Calculate the most restrictive ratio to preserve curvature
551553
if (linear_vel != 0.0) {
552-
ratio = std::clamp(polygon->getLinearLimit() / linear_vel, 0.0, 1.0);
554+
ratio = std::min(ratio, polygon->getLinearLimit() / linear_vel);
555+
}
556+
if (velocity.tw != 0.0) {
557+
ratio = std::min(ratio, polygon->getAngularLimit() / std::abs(velocity.tw));
553558
}
554-
safe_vel.x = velocity.x * ratio;
555-
safe_vel.y = velocity.y * ratio;
556-
safe_vel.tw = std::clamp(
557-
velocity.tw, -polygon->getAngularLimit(), polygon->getAngularLimit());
559+
ratio = std::clamp(ratio, 0.0, 1.0);
560+
// Apply the same ratio to all components to preserve curvature
561+
safe_vel = velocity * ratio;
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// Check that currently calculated velocity is safer than
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// chosen for previous shapes one
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if (safe_vel < robot_action.req_vel) {

‎nav2_collision_monitor/test/collision_monitor_node_test.cpp‎

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@@ -820,10 +820,12 @@ TEST_F(Tester, testProcessStopSlowdownLimit)
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publishCmdVel(0.5, 0.2, 0.1);
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ASSERT_TRUE(waitCmdVel(500ms));
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const double speed = std::sqrt(0.5 * 0.5 + 0.2 * 0.2);
823-
const double ratio = LINEAR_LIMIT / speed;
823+
const double linear_ratio = LINEAR_LIMIT / speed;
824+
const double angular_ratio = ANGULAR_LIMIT / 0.1;
825+
const double ratio = std::min(linear_ratio, angular_ratio);
824826
ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5 * ratio, EPSILON);
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ASSERT_NEAR(cmd_vel_out_->linear.y, 0.2 * ratio, EPSILON);
826-
ASSERT_NEAR(cmd_vel_out_->angular.z, 0.09, EPSILON);
828+
ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1 * ratio, EPSILON);
827829
ASSERT_TRUE(waitActionState(500ms));
828830
ASSERT_EQ(action_state_->action_type, LIMIT);
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ASSERT_EQ(action_state_->polygon_name, "Limit");
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905907
publishCmdVel(0.5, 0.2, 0.1);
906908
EXPECT_TRUE(waitCmdVel(500ms));
907909
const double speed = std::sqrt(0.5 * 0.5 + 0.2 * 0.2);
908-
const double ratio = LINEAR_LIMIT / speed;
910+
const double linear_ratio = LINEAR_LIMIT / speed;
911+
const double angular_ratio = ANGULAR_LIMIT / 0.1;
912+
const double ratio = std::min(linear_ratio, angular_ratio);
909913
EXPECT_NEAR(cmd_vel_out_->linear.x, 0.5 * ratio, EPSILON);
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EXPECT_NEAR(cmd_vel_out_->linear.y, 0.2 * ratio, EPSILON);
911-
EXPECT_NEAR(cmd_vel_out_->angular.z, 0.09, EPSILON);
915+
EXPECT_NEAR(cmd_vel_out_->angular.z, 0.1 * ratio, EPSILON);
912916
EXPECT_TRUE(waitActionState(500ms));
913917
EXPECT_EQ(action_state_->action_type, LIMIT);
914918
EXPECT_EQ(action_state_->polygon_name, "Limit");

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