Jazzy sync Jan 23, 2026 (#5890)

* No need to spam the logs (#5674)

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

* Conditionally call onLoop based on node status (#5700)

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

* Allow for no progress checkers to be configured (#5701)

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

* Fix: wait for drive_on_heading_client instead of backup_client (#5724)

The basic navigator was waiting for the backup_client in the
driveOnHeading function.

Signed-off-by: agennart <antoine.gennart@quimesis.be>
Co-authored-by: agennart <antoine.gennart@quimesis.be>

* Fix: reset controller_server loop_rate when missed desired rate #5712 (#5723)

When a single iteration takes longer than the expected period,
this impacts the next iterations behavior since they will have
less time to perform the control logic, thus increasing the actual
controller_frequency. By resetting the loop_rate on sleep() failure,
this ensures that each iteration will have a full period to exectue its
logic.

Signed-off-by: agennart <antoine.gennart@quimesis.be>
Co-authored-by: agennart <antoine.gennart@quimesis.be>

* temporary fix bug null pointer (#5749)

* temporary fix bug null pointer

Signed-off-by: suifengersan123 <yangabc810@gmail.com>

* add return

Signed-off-by: suifengersan123 <yangabc810@gmail.com>

* remove return

Signed-off-by: suifengersan123 <yangabc810@gmail.com>

---------

Signed-off-by: suifengersan123 <yangabc810@gmail.com>

* fix: change warning to exception when goal poses cannot be transformed (#5759)

- Replace RCLCPP_WARN with std::runtime_error exception in onPreempt method
- Remove bt_action_server_->terminatePendingGoal() call after accepting goal
- Add required stdexcept include for exception handling

Fixes issue where navigators accept pending goal but are not properly
terminated if rejected during goal pose transformation.

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

* Update obstacle layer usage of max ranges (#5697)

* Use cell distance for obstacle marking max range

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* Don't raytrace clear the cell containing the current observation

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* Add tests for max marking and clearing ranges

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* Fix cpplint failures

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* Fix distance calculation

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* fix casting, formatting

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* check origin is in map, update CMakeLists

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* use hypot instead of squared dist

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* Move origin calc out of loop

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* Revert don't raytrace observation cell

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* Revert don't raytrace origin if it is observation cell

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* Remove new line

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

---------

Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>

* [mppi] Don't reset zone-based speed limits (#5768)

* [mppi] Don't reset zone-based speed limits

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* [mppi] update motion model params from speed_limit

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* fix linting issue

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* Revert: reset speed limits after param change

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

---------

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* Bugfix inactive publishers (#5748)

* Do not publish costmap unless active

Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>

* Fix style

Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>

* Fix typo

Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>

* Use layers isEnabled() to prevent publishing

Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>

* Fix style

Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>

* Add missing include for CostmapLayer type

Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>

* Remove extra scoping

Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>

---------

Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>
Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com>

* Fix MAX_NON_OBSTACLE_COST in theta star planner (#5865)

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

* Bump jazzy to 1.3.11 for release

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

---------

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
Signed-off-by: agennart <antoine.gennart@quimesis.be>
Signed-off-by: suifengersan123 <yangabc810@gmail.com>
Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>
Signed-off-by: Adi Vardi <adi.vardi@enway.ai>
Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>
Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>
Co-authored-by: Saitama <gennartan@users.noreply.github.com>
Co-authored-by: agennart <antoine.gennart@quimesis.be>
Co-authored-by: suifengersan123 <136066397+suifengersan123@users.noreply.github.com>
Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
Co-authored-by: Simon Dathan <simon.dathan@kudan.eu>
Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com>
Co-authored-by: Christopher Thompson <pele1410@gmail.com>
Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com>
Co-authored-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>

Author: 11 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>1.3.10</version>
+  <version>1.3.11</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>1.3.10</version>
+  <version>1.3.11</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_behavior_tree/src/behavior_tree_engine.cpp

@@ -64,7 +64,9 @@ BehaviorTreeEngine::run(
 
       result = tree->tickOnce();
 
-      onLoop();
+      if (result == BT::NodeStatus::RUNNING || result == BT::NodeStatus::IDLE) {
+        onLoop();
+      }
 
       if (!loopRate.sleep()) {
         RCLCPP_DEBUG_THROTTLE(

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>1.3.10</version>
+  <version>1.3.11</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>1.3.10</version>
+  <version>1.3.11</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>1.3.10</version>
+  <version>1.3.11</version>
   <description>Nav2 BT Navigator Server</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>

nav2_bt_navigator/src/navigators/navigate_through_poses.cpp

@@ -17,6 +17,7 @@
 #include <set>
 #include <memory>
 #include <limits>
+#include <stdexcept>
 #include "nav2_bt_navigator/navigators/navigate_through_poses.hpp"
 
 namespace nav2_bt_navigator
@@ -203,11 +204,9 @@ NavigateThroughPosesNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal)
     // if pending goal has an empty behavior_tree field, it requests the default BT file
     // accept the pending goal if the current goal is running the default BT file
     if (!initializeGoalPoses(bt_action_server_->acceptPendingGoal())) {
-      RCLCPP_WARN(
-        logger_,
+      throw std::runtime_error(
         "Preemption request was rejected since the goal poses could not be "
-        "transformed. For now, continuing to track the last goal until completion.");
-      bt_action_server_->terminatePendingGoal();
+        "transformed.");
     }
   } else {
     RCLCPP_WARN(

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>1.3.10</version>
+  <version>1.3.11</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>1.3.10</version>
+  <version>1.3.11</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>1.3.10</version>
+  <version>1.3.11</version>
   <description>Ceres constrained smoother</description>
   <maintainer email="vargovcik@robotechvision.com">Matej Vargovcik</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>