Collision monitor toggle bt plugin #5532

DavidG-Develop · 2025-09-18T08:42:32Z

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

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.

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-*.

Signed-off-by: David G <[email protected]>

mergify · 2025-09-18T09:15:59Z

@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).

Signed-off-by: David G <[email protected]>

mergify · 2025-09-18T09:45:14Z

@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 · 2025-09-18T15:59:01Z

@DavidG-Develop please heed CI and the merge conflict

SteveMacenski · 2025-09-18T15:59:30Z

...behavior_tree/include/nav2_behavior_tree/plugins/action/toggle_collision_monitor_service.hpp

+ * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
+ *       It will re-initialize when halted.
+ */
+class ToggleCollisionMonitorService : public BtServiceNode<nav2_msgs::srv::Toggle>


Make sure to open a PR against docs.nav2.org to add this to the Configuration Guide, Navigation Plugins page, and Migration Guide

Ok, I built the docs for the Configuration guide and Navigation plugins page, but I am not sure what to do in the migration guide? Also, I will wait until this gets merged so I can add the correct link inside the navigation plugins page before opening the PR towards the docs.

Basically just make a new entry for the collision monitor can be toggled on / off, and also here's a behavior tree node to do it from a BT if you choose.

P.S. you may also be interested in adding this API to the Nav2 Simple Commander so that people can also call this from the Python3 API! That would also involve updating that page for the new function as well https://docs.nav2.org/commander_api/index.html

Ok, so under Kilted to L-turtle just short explanation of this and #5493 ?

For the Nav2 Simple Commander I can take a look, but I have never worked with it so I am not that familiar with the structure. It might take some time for me to implement it depending on my availability in the coming weeks. I will take a look and until the end of the week I will either confirm that I will be implementing it or that we should open an issue so someone else can pick it up.

Correct!

The simple commander API is ... very simple. You can essentially follow this pattern in the making of changeMap service function: https://github.com/ros-navigation/navigation2/blob/main/nav2_simple_commander/nav2_simple_commander/robot_navigator.py#L212-L213 & https://github.com/ros-navigation/navigation2/blob/main/nav2_simple_commander/nav2_simple_commander/robot_navigator.py#L1013-L1044

mergify · 2025-09-18T16:00:27Z

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

Signed-off-by: DavidG-Develop <[email protected]>

Signed-off-by: David G <[email protected]>

DavidG-Develop · 2025-09-22T10:33:29Z

@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 · 2025-09-22T18:50:00Z

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 · 2025-09-23T14:38:49Z

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 10 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 · 2025-09-23T14:41:18Z

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

DavidG-Develop · 2025-09-23T16:00:06Z

@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 · 2025-09-23T16:15:52Z

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 · 2025-09-23T16:31:14Z

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 · 2025-09-23T18:32:45Z

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.

DavidG-Develop added 4 commits September 18, 2025 10:08

add Bt pluging for toggle collision monitor service

061a42d

Signed-off-by: David G <[email protected]>

Add test for btt plugin

4d44030

Signed-off-by: David G <[email protected]>

Clean up test

d1da24e

Signed-off-by: David G <[email protected]>

Fix copyright in header

31018aa

Signed-off-by: David G <[email protected]>

uncrustify

9873972

Signed-off-by: David G <[email protected]>

SteveMacenski reviewed Sep 18, 2025

View reviewed changes

DavidG-Develop and others added 3 commits September 22, 2025 09:28

Merge branch 'main' into feature/cm_toggle_bt

da27b78

Signed-off-by: DavidG-Develop <[email protected]>

fix lint

ee79a5c

Signed-off-by: David G <[email protected]>

fix circle ci

d6b0127

Signed-off-by: David G <[email protected]>

DavidG-Develop mentioned this pull request Sep 24, 2025

Toggle collision manager docs ros-navigation/docs.nav2.org#780

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Collision monitor toggle bt plugin #5532

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DavidG-Develop commented Sep 18, 2025

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

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