Merge branch 'ros-navigation:master' into master

commander_api/index.rst

@@ -74,13 +74,16 @@ New as of September 2023: the simple navigator constructor will accept a `namesp
 | goal_checker_id='')                   | ``PoseStamped``, ``nav_msgs/Path``.                                        |
 +---------------------------------------+----------------------------------------------------------------------------+
 | spin(spin_dist=1.57,                  | Requests the robot to performs an in-place rotation by a given angle.      |
-| time_allowance=10)                    |                                                                            |
+| time_allowance=10,                    |                                                                            |
+| disable_collision_checks=False)       |                                                                            |
 +---------------------------------------+----------------------------------------------------------------------------+
 | driveOnHeading(dist=0.15,             | Requests the robot to drive on heading by a given distance.                |
-| speed=0.025, time_allowance=10)       |                                                                            |
+| speed=0.025, time_allowance=10,       |                                                                            |
+| disable_collision_checks=False)       |                                                                            |
 +---------------------------------------+----------------------------------------------------------------------------+
 | backup(backup_dist=0.15,              | Requests the robot to back up by a given distance.                         |
-| backup_speed=0.025, time_allowance=10)|                                                                            |
+| backup_speed=0.025, time_allowance=10,|                                                                            |
+| disable_collision_checks=False)       |                                                                            |
 +---------------------------------------+----------------------------------------------------------------------------+
 | assistedTeleop(time_allowance=30)     | Requests the robot to run the assisted teleop action.                      |
 +---------------------------------------+----------------------------------------------------------------------------+

configuration/packages/bt-plugins/actions/BackUp.rst

@@ -67,6 +67,17 @@ Input Ports
   Description
     	Action server timeout (ms).
 
+:disable_collision_checks:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false
+  ====== =======
+
+  Description
+      Disable collision checking.
+
 Output Ports
 ------------
 
@@ -86,4 +97,4 @@ Example
 
 .. code-block:: xml
 
-  <BackUp backup_dist="-0.2" backup_speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{backup_error_code}"/>
+  <BackUp backup_dist="-0.2" backup_speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{backup_error_code}" disable_collision_checks="false"/>

configuration/packages/bt-plugins/actions/DriveOnHeading.rst

@@ -66,6 +66,17 @@ Input Ports
   Description
     	Action server timeout (ms).
 
+:disable_collision_checks:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false
+  ====== =======
+
+  Description
+      Disable collision checking.
+
 Output Ports
 ------------
 
@@ -85,4 +96,4 @@ Example
 
 .. code-block:: xml
 
-  <DriveOnHeading dist_to_travel="0.2" speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{drive_on_heading_error_code}"/>
+  <DriveOnHeading dist_to_travel="0.2" speed="0.05" server_name="backup_server" server_timeout="10" error_code_id="{drive_on_heading_error_code}" disable_collision_checks="false"/>

configuration/packages/bt-plugins/actions/Spin.rst

@@ -67,6 +67,17 @@ Input Ports
   Description
     	True if the action is being used as a recovery.
 
+:disable_collision_checks:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false
+  ====== =======
+
+  Description
+      Disable collision checking.
+
 Output Ports
 ------------
 
@@ -86,5 +97,5 @@ Example
 
 .. code-block:: xml
 
-  <Spin spin_dist="1.57" server_name="spin" server_timeout="10" is_recovery="true" error_code_id="{spin_error_code}"/>
+  <Spin spin_dist="1.57" server_name="spin" server_timeout="10" is_recovery="true" error_code_id="{spin_error_code}" disable_collision_checks="false"/>
 

migration/Jazzy.rst

@@ -189,3 +189,13 @@ They have been consolidated into a single one:
 
 The ``local_namespace`` parameter has been removed and is now automatically set to the node's name (which is what the second removed constructor did).
 Parameters ``parent_namespace`` / ``use_sim_time`` both provide default values to maintain the ability of creating a ``Costmap2DROS`` object by just specifying a name.
+
+Option to disable collision checking in DriveOnHeading, BackUp and Spin Actions
+*******************************************************************************
+
+In `PR #4785 <https://github.com/ros-navigation/navigation2/pull/4785>`_ a new boolean parameter named `disable_collision_checks` was added to the `DriveOnHeading`, `BackUp` and `Spin` actions to optionally disable collision checking. 
+This can be useful, for example, in cases where you want to move the robot even in the presence of known obstacles.
+
+Default value:
+
+- false

plugin_tutorials/docs/writing_new_costmap2d_plugin.rst

@@ -230,6 +230,7 @@ In this case each plugin object will be handled by its own parameters tree in a
     plugin: nav2_gradient_costmap_plugin::GradientLayer # In Iron and older versions, "/" was used instead of "::"
     enabled: False
     ...
+NOTE: the order in which plugins are listed in the configuration is significant, as it determines the sequence in which they are applied to the costmap. For example, if the inflation layer is listed before the range layer, obstacles added to the costmap by the range layer will not be inflated.
 
 4- Run GradientLayer plugin
 ---------------------------