Collision monitor toggle bt plugin

[DavidG-Develop]

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Basic Info

Depends on #5493

Info	Please fill out this column
Ticket(s) this addresses	#5463 #5493
Primary OS tested on	Dockerized ubuntu
Robotic platform tested on	Tb4 sim
Does this PR contain AI generated software?	Partially AI assisted
Was this PR description generated by AI software?	Nope

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Description of contribution in a few bullet points

Added bt plugin for toggling the collision monitor. The plugin wraps the BtServiceNode and calls the toggle service using nav2_msgs::srv::Toggle. The toggle control is done using a boolean input port which defines if the cm should be enabled or disabled.

Description of documentation updates required from your changes

Should be added to the Navigation plugins -> Behavior tree nodes -> Action plugin list

Description of how this change was tested

Wrote a test for it (used previous tests as template).

Tested also by implementing a rudimentary service that this plugin can call and adding this plugin into the default tree to be called.

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

[mergify]

@DavidG-Develop, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[mergify]

@DavidG-Develop, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

@DavidG-Develop please heed CI and the merge conflict

[mergify]

This pull request is in conflict. Could you fix it @DavidG-Develop?

[DavidG-Develop]

@SteveMacenski the CI fails seem not to be bound to my code, the circleCI fails on test_nav_through_poses.missing_result while ament_flake8 returns a urlopen error <urlopen error [Errno 104] Connection reset by peer. Could you check and retrigger if needed.

[SteveMacenski]

Retriggering CI to check on those failures. Otherwise, see above with the action item(s)

Edit: flake8 passed now - must have been a networking fluke

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...lugins/action/toggle_collision_monitor_service.hpp	100.00% <100.00%> (ø)
...lugins/action/toggle_collision_monitor_service.cpp	100.00% <100.00%> (ø)

... and 11 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[SteveMacenski]

CI is good now - just focus on the API & docs elements and can merge!

[DavidG-Develop]

@SteveMacenski The docs are waiting for this to be merged so I can grab a working link for the plugins list on the Navigation Plugins page, and I need to do the short migration guide (will be done tmrw).
I will be unavailable for some time starting on the 1st. My preference would be to merge this now while for the simple commander API, I will either open a PR if I manage to address it before leaving, or create an issue detailing what should be done so someone else can pick it up.

[SteveMacenski]

We cannot merge this without a docs PR unfortunately. They are merged as a pair.

Understood on the API. I’ll file a ticket to do that once we merge.

[DavidG-Develop]

Ok yep understood, than for the link I will just fill it so it points to where the file should land so than https://github.com/ros-navigation/navigation2/blob/main/nav2_behavior_tree/plugins/action/toggle_collision_monitor_service.cpp and than check it once it both gets merged. Will be done tommorow.

[SteveMacenski]

Sounds good! It’s easy for forgetful maintainers (I.e. me) to merge this and then forget about the docs PR or the docs PR needs fixing and gets stale so the main code isn’t documented. This point of process is mostly for the benefit to keep things 1:1 synchronized.