* Revert "Fix Ci from key signing (#5220)" (#5237)

* Revert "Fix Ci from key signing (#5220)"

This reverts the changes to the Dockerfile done in 1345c22.

Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com>

* Update Cache Version

Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com>

---------

Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com>
(cherry picked from commit 7f561b0)

# Conflicts:
#	.circleci/config.yml

* Update config.yml

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

---------

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(cherry picked from commit 279e17e)

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

* added edge length method



* Added corner arc class



* replaced double vectors with Coordinates, added methods to return start and end coordinates



* using Coordinates, fixed direction of tangents



* added corner arc in header, added logger in protected variable



* first pass of corner smoothing algorithm



* reassigning next edge to have a different start, if a corner occurs before it



* using unique pointer instead of raw pointers for new edges and nodes



* added smoothing parameter



* made angle of interpolation a parameter



* const for return methods, added flag for smoothing corners



* moved getEdgeLength() into the Directional Edge struct



* using float instead of double



* smoothing radius is float, couple methods moved to protected



* removed signed_angle_ as a member variable



* removed unnecessary member variables



* removed angle of interpolation and inferring it from path density and radius instead



* consolidated corner arc into one header function



* readded newline



* changed corner arc to corner smoothing



* replaced the use of edges with coordinates to generate smoothing arc, removed storage of nodes and edges



* linting



* fixing cpplint



* linting for headers



* cpplinting



* Update nav2_route/src/path_converter.cpp



* Update nav2_route/src/path_converter.cpp



* Update nav2_route/src/path_converter.cpp



* Update nav2_route/src/path_converter.cpp



* Update nav2_route/include/nav2_route/corner_smoothing.hpp



* fixed divide by zeros and accessing empty route.edges



* uncrustify linting



* cpp linting



* path converter linting



* changed all doubles to floats



* added check for edges that are colinear to avoid divide by 0, fixed final edge interpolation



* linting



* Update nav2_route/include/nav2_route/corner_smoothing.hpp



* added doxygen for corner arc class



* added warning message if corner can't be smoothed



* added smooth_corners to the nav2 params file



* added smoothing flag and radius parameter to README.md'



* typo in README



* added testing for corner smoothing



* Update nav2_route/include/nav2_route/corner_smoothing.hpp



---------




(cherry picked from commit 792bcac)

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Conserve curvature with LIMIT action



* fix format



* fix test



---------


(cherry picked from commit d370ca3)

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

(cherry picked from commit 33e78d7)

Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com>
Co-authored-by: mini-1235 <mauricepurnawan@gmail.com>

* cherry pick



* cherry pick 6a74ba6



* cherrpy pick



* include x11 forwarding



* kind of working version



* cleanup



* formatting



* minor format change



* change naming



* minor changes



* working with new changes



* Revert "Fix Ci from key signing (#5220)" (#5237)

* Revert "Fix Ci from key signing (#5220)"

This reverts the changes to the Dockerfile done in 1345c22.



* Update Cache Version



---------




* Revert back



* enable_groot_monitoring_ false (#5246)





* Updating readme table for kilted release (#5249)

* updating readme table for kilted release



* Updating table lint



---------




* Add min_distance_to_obstacle parameter to RPP (#4543)

* min_distance_to_obstacle



* suggestion to time base and combine



* typo



* use min_approach_linear_velocity



---------





* Fixing builds for message filters API change while retaining Jazzy, Kilted, and Rolling support (#5251)

* Update amcl_node.hpp



* Update amcl_node.cpp



* Working for Kilted, Jazzy



* Update amcl_node.cpp



* Update amcl_node.cpp



* Update amcl_node.cpp



---------




* Change max_cost default to 254 (#5256)




* linter



* remove const



* pass const pointer by value



* pass const pointer by value



* remove unused param



---------











(cherry picked from commit afb9e7d)

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(cherry picked from commit 22d8d91)

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(cherry picked from commit 829e683)

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

* Unique to Shared Bond Connection

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

* Update lifecycle_node.cpp

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

* Unique to Shared Bond Connection [Jazzy backport]

Changes bond connection from std::unique_ptr to std::shared_ptr
for better memory management and lifecycle handling.

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* Unique to Shared Bond Connection [Humble backport]

Changes bond connection from std::unique_ptr to std::shared_ptr
for better memory management and lifecycle handling.

Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

)

* Adding minimum range to PC2 in collision monitor (#5392)

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
(cherry picked from commit 40a0451)

# Conflicts:
#	nav2_collision_monitor/src/pointcloud.cpp

* Update pointcloud.cpp

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

* Update pointcloud.cpp

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

* Update sources_test.cpp

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

---------

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

) (#5432)

* Construct TF listeners passing nodes, spinning on separate thread



* (tentative) pin down of the impacting change



---------


(cherry picked from commit 1468484)

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* Fix lifecycle manager deadlock during shutdown

Add stop() method to ServiceClient that cancels internal executor operations
and call it in LifecycleServiceClient destructor to prevent deadlock when
CTRL+C is pressed during lifecycle node bringup.

This addresses issue #5437 where spin_until_future_complete can hang
indefinitely during shutdown when bringup and shutdown sequences run
concurrently.



* Update service_client.hpp



---------



(cherry picked from commit f7b6654)

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

* enable_groot_monitoring_ false (#5246)

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* Add min_distance_to_obstacle parameter to RPP (#4543)

* min_distance_to_obstacle

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

* suggestion to time base and combine

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

* typo

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

* use min_approach_linear_velocity

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

---------

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* Parametrizing obstacle layer tf filter tolerance (#5261)

Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>

* Fix backport compiler warning (#5277)

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

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

Signed-off-by: Silvio Traversaro <silvio@traversaro.it>

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

Signed-off-by: Silvio Traversaro <silvio@traversaro.it>

* 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>

---------

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

* outputting tracker feedback on ComputeAndTrack BT node (#5327)

* outputting tracker feedback on BT node

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* initializing outputs

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* outputting last state on success

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* linting

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* fixed nav2_tree_nodes.xml

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* Update nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp

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Signed-off-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>

* consolidated function to set outputs null, only setOutput with active feedback

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* add class to method

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* linting

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

---------

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Signed-off-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>
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* 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>

* Include <stdexcept> in docking_exceptions.hpp for exception handling (#5363)

Signed-off-by: Alberto Tudela <ajtudela@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

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* Fix linting

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---------

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>

* corner case bin check (#5413)

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* Add IndexType definition for Nanoflann KDTree in `node_spatial_tree`. (#5420)

* fix: Add KDTree type definition to include unsigned int for IndexType

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* code format

Signed-off-by: Ericsii <ericfengx@foxmail.com>

---------

Signed-off-by: Ericsii <ericfengx@foxmail.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

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* Apply suggestions

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* Remove unnecessary diff

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

---------

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* Fix KeepoutFilter on the ARM architecture (#5436)

Signed-off-by: Sushant Chavan <gitecsvc@gmail.com>

* Fix missing dependency (#5460)

* Support loading multiple behavior tree files as subtrees (#5426)

* Support loading multiple behavior tree files as subtrees

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* Fix code style

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* Added default param value

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* Added recursive check to loadBehaviorTree and adapted unit test accordingly

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* Removed nested loadBehaviorTree check in navigators

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* Removed whitespace cpplint

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* Fixed goalReceived

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* Let loadbehaviorTree use its own search_directories var

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* PR fixes-format-lint and test

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* fix pointer

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* Added unit test for BT xml validity

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* CPPLint

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* Check non existent search directory for bt

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* CPPLint

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* Fixed BT tests

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---------

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* bump 1.4.0 to 1.4.1 for aug 19 sync

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* Fixing backport error

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* load balance CI

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* Fixing BT Navigator backport merge conflict issue

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---------

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…5473) (#5475)

Fixes crash when dynamically changing smooth_path parameter from false to true.
The issue occurred because SmootherParams were only declared when smooth_path
was initially true, causing ParameterModifiedInCallbackException when trying
to declare parameters within the dynamic parameter callback.

Now SmootherParams are always declared, making them available for dynamic
reconfiguration regardless of the initial smooth_path value.

Fixes #5472


(cherry picked from commit 69a60df)

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

(cherry picked from commit ff80727)

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

* Return early from edge interpolation for zero-length edges

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* Move the check and add a test

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---------

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* nav2_route vizualization marker rendering performance improvement (#5452)

* nav2_route vizualization marker use sphere_list and line_list for rendering performance

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

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---------

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* Fix dynamic param SmacPlannerLattice  (#5478)

* Fix SmacPlannerLattice dynamic parameter early exit

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* remove comment

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---------

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* Fix duplicate poses with computePlanThroughPoses (#5488)

* fix-duplicate-poses

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* Update nav2_planner/src/planner_server.cpp

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---------

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* Fix segmentation fault

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* fix linting

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---------

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

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* Fix route graph vis

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---------

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* Removing openMP dep on MPPI (#5506)

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

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* change header to stamp

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* Add readme

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* add to readme

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* fixes

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---------

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

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* Fix/dependency and header (#5520)

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* Remove unused header

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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>

* Add support for dynamically changing keepout zone



* Linting



* Revert binary and speed changes



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(cherry picked from commit e690ef0)

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Co-authored-by: mini-1235 <mauricepurnawan@gmail.com>

(cherry picked from commit 48e7e06)

Signed-off-by: Jay Herpin <jherpin@metalsharkboats.com>
Co-authored-by: Jay Herpin <159202566+JayHerpin@users.noreply.github.com>