Feature Request:Make the isPathValid Service Configurable with Parameters

[BCKSELFDRIVEWORLD]

Feature request

Feature description

Currently, the isPathValid service considers a path valid as long as the costs are not lethal. However, in many scenarios, users might need more flexibility in determining what constitutes a valid path. For instance, there might be cases where paths with costs above a certain threshold (but below lethal cost) should also be considered invalid.

To address this, I propose introducing a parameter that allows users to specify the threshold cost for path validity. This would make the service more adaptable to different use cases and improve its overall utility.

Proposed Feature:

• Add a parameter to the isPathValid service that allows users to define the maximum allowable cost for a path to be considered valid.

[SteveMacenski]

Seems reasonable to have a max cost parameter or in the service request itself. I think the service request having a field for the max, valid cost would be great & pretty easy contribution. @BCKSELFDRIVEWORLD can you submit a PR?

[Youlun-Peng]

Hey, @SteveMacenski ! Is there any progress here? Can I contribute to address this issue? :D

[BCKSELFDRIVEWORLD]

i will sent pr this week

[mini-1235]

i will sent pr this week

Sorry, I just saw this reply after I made the PR 🥲

[BCKSELFDRIVEWORLD]

If you haven’t seen it, no problem. Congratulations! I’m sorry for keeping you @SteveMacenski waiting this long; I was busy and forgot. :/

[SteveMacenski]

@BCKSELFDRIVEWORLD I understand! Let me know if you're open to contributing something else 😉 I'm sure between your needs and ideas and my huge backlog, we can find something if you like!

[CesarBear]

@SteveMacenski I am open to contributing something else. Is there any issue suitable for my first trial help?

[SteveMacenski]

@CesarBear please check out tickets with help wanted, enhancement, or good first issue!

• https://github.com/ros-navigation/navigation2/issues?q=is%3Aissue%20state%3Aopen%20label%3A%22help%20wanted%22
• https://github.com/ros-navigation/navigation2/issues?q=is%3Aissue%20state%3Aopen%20label%3A%22good%20first%20issue%22
• https://github.com/ros-navigation/navigation2/issues?q=is%3Aissue%20state%3Aopen%20label%3Aenhancement

In particular, one of these might be good!:

• Nav2 Docking: Add Option for Reversing into Dock #4403
• Docking backwards as plugin param #4695
• Unpopular feature request: add costmap source to collision monitor #4794
• Add precommit to Nav2 #4769
• Nav2 Regulated Pure Pursuit set with Ackermann model skips driving maneuvers given by path planner #4757
• More info about the state of poses in NavigateThroughPoses #4846