diff --git a/commander_api/index.rst b/commander_api/index.rst
index f895985e7..9b518d00d 100644
--- a/commander_api/index.rst
+++ b/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. |
+---------------------------------------+----------------------------------------------------------------------------+
diff --git a/configuration/packages/bt-plugins/actions/BackUp.rst b/configuration/packages/bt-plugins/actions/BackUp.rst
index 67ea2125d..69b8ce572 100644
--- a/configuration/packages/bt-plugins/actions/BackUp.rst
+++ b/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
-
+
diff --git a/configuration/packages/bt-plugins/actions/DriveOnHeading.rst b/configuration/packages/bt-plugins/actions/DriveOnHeading.rst
index 79c6fcc4e..5039a0d84 100644
--- a/configuration/packages/bt-plugins/actions/DriveOnHeading.rst
+++ b/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
-
+
diff --git a/configuration/packages/bt-plugins/actions/Spin.rst b/configuration/packages/bt-plugins/actions/Spin.rst
index df89009d0..33da57000 100644
--- a/configuration/packages/bt-plugins/actions/Spin.rst
+++ b/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
-
+
diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst
index f645c84ee..fef61808e 100644
--- a/migration/Jazzy.rst
+++ b/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 `_ 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
\ No newline at end of file
diff --git a/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst b/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst
index 609e11d01..aaf82678d 100644
--- a/plugin_tutorials/docs/writing_new_costmap2d_plugin.rst
+++ b/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
---------------------------