Fixed crash in bt_service_node when the service is not available in time #5606
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SteveMacenski
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@JayHerpin please sign off DCO. I'll also backport this - thanks! |
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Correct me if I am wrong, but I don't believe that system_build check failure is anything to do with my changes? |
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@JayHerpin pull in main / rebase and it should pass now! |
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Squashed commit of the following: commit bf2e64c Author: Greg Anderson <[email protected]> Date: Tue Oct 21 14:41:42 2025 -0500 Add declaration for use_global_height parameter into add sources function. Signed-off-by: Greg Anderson <[email protected]> commit 8453632 Author: Greg Anderson <[email protected]> Date: Tue Oct 21 08:28:19 2025 -0500 Adjusted asserts in third test case for consistent results. Signed-off-by: Greg Anderson <[email protected]> commit 725f054 Author: Greg Anderson <[email protected]> Date: Mon Oct 20 21:04:51 2025 -0500 Add additional case for testing pointcloud with no height field. Signed-off-by: Greg Anderson <[email protected]> commit 2bb49aa Merge: b02713a cdccfe1 Author: Greg Anderson <[email protected]> Date: Mon Oct 20 18:01:24 2025 -0500 Merge branch 'main' into feat/CustomCollisionPointFields Signed-off-by: Greg Anderson <[email protected]> commit b02713a Author: Greg Anderson <[email protected]> Date: Mon Oct 20 17:53:36 2025 -0500 Cleaned up some un-needed parameter changes. commit 21eef62 Author: Greg Anderson <[email protected]> Date: Mon Oct 20 17:49:16 2025 -0500 Added test case for using global height parameter. commit cdccfe1 Author: Sushant Chavan <[email protected]> Date: Mon Oct 20 23:49:25 2025 +0200 Publish `is_active` status from LifecycleManager (ros-navigation#5627) * Publish `is_active` status from LifecycleManager Signed-off-by: Sushant Chavan <[email protected]> * Update nav2_lifecycle_manager/src/lifecycle_manager.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Sushant Chavan <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit b35a4b5 Author: Leander Stephen D'Souza <[email protected]> Date: Mon Oct 20 22:04:17 2025 +0100 Use the new declare_or_get_parameter API for nav2_controller. (ros-navigation#5624) * Migrate majority of parameter declarations to use the new parameter API. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Migrate controller_server.cpp to use declare_or_get_parameter API. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 62ebc54 Author: Steve Macenski <[email protected]> Date: Thu Oct 16 07:59:10 2025 -0700 Revert "[RPP] Prevent collision check premature termination (ros-navigation#5598)" (ros-navigation#5620) This reverts commit 6bc74e5. commit 01580bd Author: mini-1235 <[email protected]> Date: Thu Oct 16 02:02:29 2025 +0700 Redesign graceful controller dynamic parameters patterns (ros-navigation#5600) Signed-off-by: mini-1235 <[email protected]> commit b91eda5 Author: Abhishekh Reddy <[email protected]> Date: Tue Oct 14 14:47:14 2025 -0400 Check if the tolerance circle is feasible when validating goals for path planning. (ros-navigation#5593) * Implemented goal tolerance validity check Signed-off-by: Abhishekh Reddy <[email protected]> * Fixed description for getCoords function Signed-off-by: Abhishekh Reddy <[email protected]> * Added a test with lower tolerance for zone validity checking Signed-off-by: Abhishekh Reddy <[email protected]> * Updated tolerance check function implementation Signed-off-by: Abhishekh Reddy <[email protected]> * Updated isZoneValid function Signed-off-by: Abhishekh Reddy <[email protected]> * Updated isZoneValid function Signed-off-by: Abhishekh Reddy <[email protected]> --------- Signed-off-by: Abhishekh Reddy <[email protected]> commit 48e7e06 Author: Jay Herpin <[email protected]> Date: Tue Oct 14 12:45:59 2025 -0500 Fixed crash due to incorrect string construction (ros-navigation#5606) Signed-off-by: Jay Herpin <[email protected]> commit 7d37466 Author: Leander Stephen D'Souza <[email protected]> Date: Tue Oct 14 15:50:30 2025 +0100 Use the new parameter API in nav2_constrained_smoother. (ros-navigation#5608) Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 3935038 Author: Steve Macenski <[email protected]> Date: Tue Oct 14 07:48:32 2025 -0700 Fixing CI Cache Misalignment causing builds to fail (ros-navigation#5607) * Aligning caches Signed-off-by: SteveMacenski <[email protected]> * Trigger linting (hopefully) Signed-off-by: SteveMacenski <[email protected]> * Fix action-ros-lint version format in lint.yml Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]> commit 568174c Author: Leander Stephen D'Souza <[email protected]> Date: Tue Oct 14 01:41:25 2025 +0100 Update new_declare_or_get_parameter API for collision_monitor and map_server (ros-navigation#5588) * Use the new_declare_or_get_parameter API for nav2_collision_monitor. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed redundant set_parameter calls when preceeded by declare_parameter. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Use declare_or_get_parameter without a default value. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Simplified definitions that required to determine parameter type from template. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed self-definition of node_utils.hpp. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Address PR feedback: Remove unnecessary linebreaks and improve param docstring. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 6bc74e5 Author: Érico Meger <[email protected]> Date: Mon Oct 13 19:17:23 2025 -0300 [RPP] Prevent collision check premature termination (ros-navigation#5598) * prevent collision check premature termination Signed-off-by: EricoMeger <[email protected]> * improve comment wording Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Érico Meger <[email protected]> * fix linting error Signed-off-by: EricoMeger <[email protected]> --------- Signed-off-by: EricoMeger <[email protected]> Signed-off-by: Érico Meger <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit 4d28c13 Author: silanus <[email protected]> Date: Fri Oct 10 20:42:45 2025 +0300 Path distance feature (ros-navigation#5387) * geometry utils Signed-off-by: silanus23 <[email protected]> * fixed geometry utils adding 2d Signed-off-by: silanus23 <[email protected]> * created path_utils Signed-off-by: silanus23 <[email protected]> * added tests Signed-off-by: silanus23 <[email protected]> * minor changes in tests Signed-off-by: silanus23 <[email protected]> * lint issue Signed-off-by: silanus23 <[email protected]> * fixed reviews Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * Last fixes. Signed-off-by: silanus23 <[email protected]> * Last fixes cpp. Signed-off-by: silanus23 <[email protected]> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: silanus23 <[email protected]> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: silanus23 <[email protected]> * Update nav2_util/test/test_path_utils.cpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: silanus23 <[email protected]> * Frame check fix Signed-off-by: silanus23 <[email protected]> * msg Signed-off-by: silanus23 <[email protected]> * controller server publisher Signed-off-by: silanus23 <[email protected]> * controller server publisher fix Signed-off-by: silanus23 <[email protected]> * cross_product Signed-off-by: silanus23 <[email protected]> * handled last_fixes Signed-off-by: silanus23 <[email protected]> * tracking error added to follow path side from side added to tracking error Signed-off-by: silanus23 <[email protected]> * arranged msgs Signed-off-by: silanus23 <[email protected]> * linting of msgs Signed-off-by: silanus23 <[email protected]> * last cpplint Signed-off-by: silanus23 <[email protected]> * frame check for distance_to_goal Signed-off-by: silanus23 <[email protected]> * fixes for follow_path Signed-off-by: silanus23 <[email protected]> * controller linting Signed-off-by: silanus23 <[email protected]> * changing tracking_error to tracking_error_feedback Signed-off-by: silanus23 <[email protected]> * adding remaining_path_length in tracking_error_feedback Signed-off-by: silanus23 <[email protected]> * Last fix Signed-off-by: silanus23 <[email protected]> * start_index_ Signed-off-by: silanus23 <[email protected]> * Name changes and optimizations in controller_server and nav2_util Signed-off-by: silanus23 <[email protected]> * Changing name to tracking_feedback Signed-off-by: silanus23 <[email protected]> * Documentation changes Signed-off-by: silanus23 <[email protected]> * Last lint Signed-off-by: silanus23 <[email protected]> * Update nav2_util/include/nav2_util/path_utils.hpp Co-authored-by: Copilot <[email protected]> Signed-off-by: silanus <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Last updates Signed-off-by: silanus23 <[email protected]> * update example_follow_path.py Signed-off-by: silanus23 <[email protected]> * update example_follow_path.py lint Signed-off-by: silanus23 <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/src/path_utils.cpp Signed-off-by: Steve Macenski <[email protected]> * ordering problem Signed-off-by: silanus23 <[email protected]> * added deactivate to tracking_feedback_pub_ Signed-off-by: silanus23 <[email protected]> * typo Signed-off-by: silanus23 <[email protected]> * end_pose transform Signed-off-by: silanus23 <[email protected]> * creating the member variable end_pose_global_ and deleting nav_2d_msgs Signed-off-by: silanus23 <[email protected]> * deleting unnecessary transform Signed-off-by: silanus23 <[email protected]> * typo in controller Signed-off-by: silanus23 <[email protected]> * readding remaining path Signed-off-by: silanus23 <[email protected]> * placement of transformation Signed-off-by: silanus23 <[email protected]> * unnecessary comments Signed-off-by: silanus23 <[email protected]> * tests added Signed-off-by: silanus23 <[email protected]> * Increased test coverage Signed-off-by: silanus23 <[email protected]> * Every part of the result is covered Signed-off-by: silanus23 <[email protected]> * Increasing out of bounds index Signed-off-by: silanus23 <[email protected]> * lint Signed-off-by: silanus23 <[email protected]> * add missing line to cmake Signed-off-by: silanus23 <[email protected]> * unnecessary test Signed-off-by: silanus23 <[email protected]> * unexptected styling and last functional change Signed-off-by: silanus23 <[email protected]> * simplifying the tranformation of end_pose Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * doxygen fix Signed-off-by: silanus23 <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: silanus23 <[email protected]> Signed-off-by: silanus <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Copilot <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit 04a3e22 Author: Steve Macenski <[email protected]> Date: Fri Oct 10 10:09:08 2025 -0700 Improve error message for missing robot footprint (ros-navigation#5597) Updated error message for footprint collision checking. Signed-off-by: Steve Macenski <[email protected]> commit ce6b439 Author: Alberto Tudela <[email protected]> Date: Fri Oct 10 00:12:57 2025 +0200 Following (ros-navigation#5565) * Following server Signed-off-by: Alberto Tudela <[email protected]> * feat: migrate to nav2_msgs for FollowObject action and remove opennav_following_msgs Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy test Signed-off-by: Alberto Tudela <[email protected]> * Move FollowObject and FollowObjectCancel action nodes from bt package Signed-off-by: Alberto Tudela <[email protected]> * Update package and circle Signed-off-by: Alberto Tudela <[email protected]> * feat: add FollowObject action support in robot navigator and fix mypy Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy issues Signed-off-by: Alberto Tudela <[email protected]> * feat: add follow_object action to bt_navigator parameters Signed-off-by: Alberto Tudela <[email protected]> * Update key and package Signed-off-by: Alberto Tudela <[email protected]> * Fix precommit Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy? Signed-off-by: Alberto Tudela <[email protected]> * Fix mypy, round two Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> commit ed0d59f Author: Sakshay Mahna <[email protected]> Date: Thu Oct 9 03:39:30 2025 +0530 [Graceful Controller] Fix Incorrect Motion Target Heading output by controller (ros-navigation#5530) * Fix graceful controller lookahead bug Signed-off-by: Sakshay Mahna <[email protected]> * Shorten logic with goal_pose Signed-off-by: Sakshay Mahna <[email protected]> * Add Linear Interpolation Fix Signed-off-by: Sakshay Mahna <[email protected]> * Update const double and comments Signed-off-by: Sakshay Mahna <[email protected]> --------- Signed-off-by: Sakshay Mahna <[email protected]> commit 14660b4 Author: Vince Reda <[email protected]> Date: Wed Oct 8 17:14:57 2025 +0000 Fail PersistentSequence if input port is not set (ros-navigation#5589) * Fail if getInput fails Signed-off-by: redvinaa <[email protected]> * Add test with no input Signed-off-by: redvinaa <[email protected]> * Update error string Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Vince Reda <[email protected]> * Fix quotation marks Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> Signed-off-by: Vince Reda <[email protected]> Co-authored-by: Steve Macenski <[email protected]> commit aa2cdc5 Author: Greg Anderson <[email protected]> Date: Wed Oct 8 10:43:14 2025 -0500 Apply suggestions from code review Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Greg Anderson <[email protected]> commit 5636fc1 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 15:37:13 2025 -0500 Implementing Steve's suggestion for performance and code simplicity. Signed-off-by: Greg Anderson <[email protected]> commit b2fbb06 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 12:59:46 2025 -0500 Implemented additional changes for iterator feedback in PR. Signed-off-by: Greg Anderson <[email protected]> commit 1cdbc05 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 12:12:31 2025 -0500 Add return false for error state. Signed-off-by: Greg Anderson <[email protected]> commit 869b5a9 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 12:10:03 2025 -0500 Address PR formatting feedback. Remove run time error and replaced with log error. Signed-off-by: Greg Anderson <[email protected]> commit 11f04c7 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 10:55:18 2025 -0500 Added some pointcloud field checking based on run time error found when running tests. Signed-off-by: Greg Anderson <[email protected]> commit ca49b05 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 08:22:05 2025 -0500 Ran ament lint/style tools, cleaned up. Signed-off-by: Greg Anderson <[email protected]> commit 7e6ccc9 Author: Greg Anderson <[email protected]> Date: Tue Oct 7 08:08:01 2025 -0500 Add use_global_height_ parameter to allow configuration of height checking by end users. Signed-off-by: Greg Anderson <[email protected]> commit 0c20df2 Author: DylanDeCoeyer-Quimesis <[email protected]> Date: Mon Oct 6 22:29:17 2025 +0200 nav2_smac_planner: make A* return closest path found in case of timeout (ros-navigation#5578) Until now, a path computation timeout would systematically lead to a nav2_core::PlannerTimedOut error, even though a path was found within the tolerance. This commit makes the A* return the best path found if it's within the tolerance. Signed-off-by: Dylan De Coeyer <[email protected]> commit f78bac5 Author: Leander Stephen D'Souza <[email protected]> Date: Mon Oct 6 20:16:30 2025 +0100 Use the new declare_or_get_parameter API for nav2_behaviors. (ros-navigation#5583) Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 269d480 Author: Leander Stephen D'Souza <[email protected]> Date: Mon Oct 6 20:13:52 2025 +0100 Improve type annotations for ament_mypy (ros-navigation#5575) * Enable tools directory to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_docking to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_simple_commander to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable nav2_loopback_sim to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed unused ignores for packages for mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_msgs path fixes to mypy compliance. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> commit 5860a27 Author: Greg Anderson <[email protected]> Date: Mon Oct 6 12:41:04 2025 -0500 Create iterator for custom height field in pointcloud. Signed-off-by: Greg Anderson <[email protected]> Signed-off-by: Greg Anderson <[email protected]>
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* Jazzy Sync 7: May 29 2025 (ros-navigation#5211) * Dynamic param patterns (ros-navigation#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <[email protected]> * change cache version Signed-off-by: Nils-ChristianIseke <[email protected]> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (ros-navigation#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <[email protected]> * xml update Signed-off-by: Guillaume Doisy <[email protected]> * rename to use_start Signed-off-by: Guillaume Doisy <[email protected]> * lint Signed-off-by: Guillaume Doisy <[email protected]> * descriptions Signed-off-by: Guillaume Doisy <[email protected]> * simplify logic Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (ros-navigation#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <[email protected]> * raw pointer Signed-off-by: Guillaume Doisy <[email protected]> * suggestions from review Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Merged Fix navfn_planner from humble PR ros-navigation#5087 (ros-navigation#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge * Update map_io library to use Eigen method for faster map loading (ros-navigation#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <[email protected]> * Update pre-commit config changes Signed-off-by: Vignesh T <[email protected]> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Update include header include order Signed-off-by: Vignesh T <[email protected]> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <[email protected]> * Add comments for the code understanding Signed-off-by: Vignesh T <[email protected]> * Fix else braces rule issue Signed-off-by: Vignesh T <[email protected]> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Take flip part out of if-else Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> --------- Signed-off-by: Vignesh T <[email protected]> * Precompute yaw trigonometric values in smac planner (ros-navigation#5109) Signed-off-by: mini-1235 <[email protected]> * removing the start navigation message in the paused state from rviz buttons (ros-navigation#5137) Signed-off-by: Pradheep <[email protected]> * Show error if inflation radius is smaller than circumscribed radius (ros-navigation#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <[email protected]> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Prevent MPPI controller from resetting speed limits upon goal execution. (ros-navigation#5165) Signed-off-by: Leander Stephen D'Souza <[email protected]> * Fixing docking server when already docked at the requeste ddock (ros-navigation#5171) Signed-off-by: Steve Macenski <[email protected]> * Adding parameter util to node utils (ros-navigation#5154) * Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <[email protected]> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <[email protected]> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <[email protected]> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <[email protected]> * Fixing codecove test Signed-off-by: Marco Bassa <[email protected]> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <[email protected]> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <[email protected]> --------- Signed-off-by: Marco Bassa <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * added config for laserscan in lb-sim (ros-navigation#5174) * added config for laserscan in lb-sim Signed-off-by: RamanaBotta <[email protected]> * fixing ament_flake8 errors Signed-off-by: RamanaBotta <[email protected]> * review: use_inf is default:true and added parameters on readme ros-navigation#4992 Signed-off-by: RamanaBotta <[email protected]> * refactor: meaningfull value for scan_angle_increment Signed-off-by: RamanaBotta <[email protected]> --------- Signed-off-by: RamanaBotta <[email protected]> Co-authored-by: RamanaBotta <[email protected]> * Publish planned footprints after smoothing (ros-navigation#5155) * Publish planned footprints after smoothing Signed-off-by: Tony Najjar <[email protected]> * Revert "Publish planned footprints after smoothing" This reverts commit c9b349a. * Add smoothed footprints publishing Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice Signed-off-by: Tony Najjar <[email protected]> * address PR comments Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * fix build error Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * fixing deprecation warning (ros-navigation#5182) Signed-off-by: Steve Macenski <[email protected]> * Adding missing dep to loopback sim (ros-navigation#5204) * Adding missing dep Signed-off-by: Steve Macenski <[email protected]> * typo Signed-off-by: Steve Macenski <[email protected]> * updating fix Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Adding parameter warn_when_defaulting_parameters to control default parameter warnings (ros-navigation#5189) * Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag Signed-off-by: Marco Bassa <[email protected]> * Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing Signed-off-by: Marco Bassa <[email protected]> * Using default false declaration instead of declare_or_get in param util Signed-off-by: Marco Bassa <[email protected]> --------- Signed-off-by: Marco Bassa <[email protected]> * bumping to 1.3.7 for release Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Vignesh T <[email protected]> Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Marco Bassa <[email protected]> Signed-off-by: RamanaBotta <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Sandeep Dutta <[email protected]> Co-authored-by: Vignesh T <[email protected]> Co-authored-by: mini-1235 <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: Marco Bassa <[email protected]> Co-authored-by: Raman <[email protected]> Co-authored-by: RamanaBotta <[email protected]> * Fixing Jazzy CI via new ROS 2 keys Signed-off-by: Steve Macenski <[email protected]> * Revert "Fix Ci from key signing (ros-navigation#5220)" (backport ros-navigation#5237) (ros-navigation#5239) * Revert "Fix Ci from key signing (ros-navigation#5220)" (ros-navigation#5237) * Revert "Fix Ci from key signing (ros-navigation#5220)" This reverts the changes to the Dockerfile done in 1345c22. Signed-off-by: Nils-Christian Iseke <[email protected]> * Update Cache Version Signed-off-by: Nils-Christian Iseke <[email protected]> --------- Signed-off-by: Nils-Christian Iseke <[email protected]> (cherry picked from commit 7f561b0) # Conflicts: # .circleci/config.yml * Update config.yml Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Backport bidirectional settings ros-navigation#4954 (ros-navigation#5260) Signed-off-by: Tatsuro Sakaguchi <[email protected]> * Add namespace support for rviz costmap cost tool (ros-navigation#5271) Signed-off-by: Maurice-1235 <[email protected]> * Use fixed thresholds for Trinary yaml (ros-navigation#5278) (ros-navigation#5286) (cherry picked from commit 829e683) Signed-off-by: Adi Vardi <[email protected]> Co-authored-by: Adi Vardi <[email protected]> * Clear costmap around pose jazzy (backport ros-navigation#5309) (ros-navigation#5318) * Adding clear costmap around pose service option (ros-navigation#5309) (cherry picked from commit c0bf67e Signed-off-by: dw25628 <[email protected]> * Linting Signed-off-by: dw25628 <[email protected]> * Removed __init__.py that came in with cherry pick Signed-off-by: dw25628 <[email protected]> --------- Signed-off-by: dw25628 <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Backport "Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In" (ros-navigation#5378) * Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In (ros-navigation#5187) * Adding toggle option of keepout zone Signed-off-by: Steve Macenski <[email protected]> * Default off Signed-off-by: Steve Macenski <[email protected]> * Join conditions Signed-off-by: Steve Macenski <[email protected]> * spell check Signed-off-by: Steve Macenski <[email protected]> * copilot suggestions Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * Update keepout_filter.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> * Revert bringup params changes Signed-off-by: Maurice <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Maurice <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> * Adding minimum range to PC2 in collision monitor (backport ros-navigation#5392) (ros-navigation#5393) * Adding minimum range to PC2 in collision monitor (ros-navigation#5392) Signed-off-by: SteveMacenski <[email protected]> (cherry picked from commit 40a0451) # Conflicts: # nav2_collision_monitor/src/pointcloud.cpp * Update pointcloud.cpp Signed-off-by: Steve Macenski <[email protected]> * Update pointcloud.cpp Signed-off-by: Steve Macenski <[email protected]> * Update sources_test.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Construct TF listeners passing nodes, spinning on separate thread (backport ros-navigation#5406) (ros-navigation#5431) * Construct TF listeners passing nodes, spinning on separate thread (ros-navigation#5406) * Construct TF listeners passing nodes, spinning on separate thread Signed-off-by: Patrick Roncagliolo <[email protected]> * (tentative) pin down of the impacting change Signed-off-by: Patrick Roncagliolo <[email protected]> --------- Signed-off-by: Patrick Roncagliolo <[email protected]> (cherry picked from commit 1468484) # Conflicts: # nav2_route/src/route_server.cpp * Delete nav2_route/src/route_server.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Patrick Roncagliolo <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix lifecycle manager deadlock during shutdown (ros-navigation#5448) Signed-off-by: Jacob Visser <[email protected]> * fix 5456 (ros-navigation#5458) Signed-off-by: David G <[email protected]> * backport the fix for setting binary_state as the default (ros-navigation#5459) Signed-off-by: olaghattas <[email protected]> * Sync Jazzy Aug 19, 2025 1.4.1 (ros-navigation#5469) * Conserve curvature with LIMIT action (ros-navigation#5255) * Conserve curvature with LIMIT action Signed-off-by: Tony Najjar <[email protected]> * fix format Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Adding epsilon for voxel_layer precision loss (ros-navigation#5314) * Adding epsilon for voxel_layer precision loss Signed-off-by: bhx <[email protected]> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/voxel_layer.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: bhx <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * fix: correct ThroughActionResult type alias in would_a_planner_recovery_help_condition (ros-navigation#5326) The ThroughActionResult type alias was incorrectly referencing Action::Result instead of ThroughAction::Result, causing the condition to not work properly for ComputePathThroughPoses actions. Fixes ros-navigation#5324 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Adding slow down at target heading to RPP Controller (ros-navigation#5361) * Adding slow down at target heading to RPP Signed-off-by: SteveMacenski <[email protected]> * Update test_regulated_pp.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * Eexception rethrow in dockRobot method (ros-navigation#5364) Signed-off-by: Alberto Tudela <[email protected]> * Add global min obstacle height in voxel layer (ros-navigation#5389) * Add min obstacle height in voxel layer Signed-off-by: mini-1235 <[email protected]> * Fix linting Signed-off-by: Maurice <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice <[email protected]> * [DEX] Enforce 3 digits precision (ros-navigation#5398) Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * [static_layer] limit comparison precision (ros-navigation#5405) * [DEX] limit comparison precision Signed-off-by: Guillaume Doisy <[email protected]> * EPSILON 1e-5 Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Smooth path even if goal pose is so much near to the robot (ros-navigation#5423) * Smooth path even if goal pose is so much near to the robot Signed-off-by: CihatAltiparmak <[email protected]> * Apply suggestions Signed-off-by: CihatAltiparmak <[email protected]> * Remove unnecessary diff Signed-off-by: CihatAltiparmak <[email protected]> --------- Signed-off-by: CihatAltiparmak <[email protected]> * Fix KeepoutFilter on the ARM architecture (ros-navigation#5436) Signed-off-by: Sushant Chavan <[email protected]> * Fix missing dependency (ros-navigation#5460) * bump to 1.3.8 for Jazzy release Aug 19, 2025 Signed-off-by: SteveMacenski <[email protected]> * load balance CI Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: bhx <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Maurice <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: CihatAltiparmak <[email protected]> Signed-off-by: Sushant Chavan <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: hutao <[email protected]> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: mini-1235 <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Cihat Kurtuluş Altıparmak <[email protected]> Co-authored-by: Sushant Chavan <[email protected]> Co-authored-by: Tim Clephas <[email protected]> * fix: Move SmootherParams declaration outside smooth_path conditional (ros-navigation#5473) (ros-navigation#5474) Fixes crash when dynamically changing smooth_path parameter from false to true. The issue occurred because SmootherParams were only declared when smooth_path was initially true, causing ParameterModifiedInCallbackException when trying to declare parameters within the dynamic parameter callback. Now SmootherParams are always declared, making them available for dynamic reconfiguration regardless of the initial smooth_path value. Fixes ros-navigation#5472 (cherry picked from commit 69a60df) Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Replace last pose if only orientation differs in Navfn (ros-navigation#5490) (ros-navigation#5492) (cherry picked from commit ff80727) Signed-off-by: mini-1235 <[email protected]> Co-authored-by: mini-1235 <[email protected]> * Manual Backport Route Server to Jazzy (ros-navigation#5517) * Manual backport of Route Server to Jazzy Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> * Fix backport error Signed-off-by: Steve Macenski <[email protected]> * lint Signed-off-by: Steve Macenski <[email protected]> * Adding in Nav2 BT + Launch Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Jazzy Sync Sept 19, 2025 1.3.9 (ros-navigation#5540) * Fix dynamic param SmacPlannerLattice (ros-navigation#5478) * Fix SmacPlannerLattice dynamic parameter early exit Signed-off-by: Tony Najjar <[email protected]> * remove comment Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Fix duplicate poses with computePlanThroughPoses (ros-navigation#5488) * fix-duplicate-poses Signed-off-by: Tony Najjar <[email protected]> * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix seg fault (ros-navigation#5501) * Fix segmentation fault Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Add a service for enabling/disabling the collision monitor (ros-navigation#5493) * Added std_srvs package to dependencies Signed-off-by: Abhishekh Reddy <[email protected]> * Declared service and callback for enabling/disabling collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Declared a variable to store collision monitor enable/disable state Signed-off-by: Abhishekh Reddy <[email protected]> * Added initialization for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Implemented service callback for collision monitor enable/disable service Signed-off-by: Abhishekh Reddy <[email protected]> * Removed std_srvs package dependency Signed-off-by: Abhishekh Reddy <[email protected]> * Added Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced Trigger interface with the new Toggle interface Signed-off-by: Abhishekh Reddy <[email protected]> * Added default initialization for enabled flag Signed-off-by: Abhishekh Reddy <[email protected]> * Fixed toggle service name Signed-off-by: Abhishekh Reddy <[email protected]> * Updated toggle logic for collision monitor Signed-off-by: Abhishekh Reddy <[email protected]> * Added a new line at the end of file Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Update nav2_collision_monitor/src/collision_monitor_node.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> * Added enabled check for logging Signed-off-by: Abhishekh Reddy <[email protected]> * Added a unit test for toggle service Signed-off-by: Abhishekh Reddy <[email protected]> * Made the getter const and added a comment Signed-off-by: Abhishekh Reddy <[email protected]> * Replaced rclcpp::spin_some Signed-off-by: Abhishekh Reddy <[email protected]> --------- Signed-off-by: Abhishekh Reddy <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * bump Jazzy to 1.3.9 for release Signed-off-by: SteveMacenski <[email protected]> * Change service type for collision monitor Signed-off-by: Steve Macenski <[email protected]> * Fix backport error Signed-off-by: SteveMacenski <[email protected]> * update Signed-off-by: SteveMacenski <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Abhishekh Reddy <[email protected]> * Update package version from 1.1.0 to 1.3.9 Signed-off-by: Steve Macenski <[email protected]> * Add support for dynamically changing keepout zone (ros-navigation#5429) (ros-navigation#5542) * Add support for dynamically changing keepout zone * Linting * Revert binary and speed changes --------- (cherry picked from commit e690ef0) Signed-off-by: mini-1235 <[email protected]> Co-authored-by: mini-1235 <[email protected]> * Fix bad_weak_ptr in createBond() by using shared_ptr (backport ros-navigation#5341) (ros-navigation#5563) Signed-off-by: ymd-stella <[email protected]> * Fixed crash due to incorrect string construction (ros-navigation#5606) (ros-navigation#5613) (cherry picked from commit 48e7e06) Signed-off-by: Jay Herpin <[email protected]> Co-authored-by: Jay Herpin <[email protected]> * Add dependency on nav2_route in package.xml (ros-navigation#5639) Signed-off-by: Steve Macenski <[email protected]> * Revert ros-navigation#4971 in Jazzy (ros-navigation#5640) * Revert ros-navigation#4971 in Jazzy Signed-off-by: mini-1235 <[email protected]> * Add Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> * Bumping to 1.3.10 for urgent jazzy regression fixes (ros-navigation#5650) Signed-off-by: SteveMacenski <[email protected]> * Backporting custom height point field into Jazzy. (ros-navigation#5646) * Summary commit of all changes for adding custom pointcloud field height. (ros-navigation#5586) Doing this to clear out unsigned commits from history. Signed-off-by: Greg Anderson <[email protected]> * Corrected parameter declaration methods that aren't part of Jazzy. Fixed parameter typo from some manual merging in pointcloud.cpp Signed-off-by: Greg Anderson <[email protected]> --------- Signed-off-by: Greg Anderson <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Vignesh T <[email protected]> Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Marco Bassa <[email protected]> Signed-off-by: RamanaBotta <[email protected]> Signed-off-by: Tatsuro Sakaguchi <[email protected]> Signed-off-by: Maurice-1235 <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: dw25628 <[email protected]> Signed-off-by: Maurice <[email protected]> Signed-off-by: Jacob Visser <[email protected]> Signed-off-by: David G <[email protected]> Signed-off-by: olaghattas <[email protected]> Signed-off-by: bhx <[email protected]> Signed-off-by: SteveMacenski <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: CihatAltiparmak <[email protected]> Signed-off-by: Sushant Chavan <[email protected]> Signed-off-by: Abhishekh Reddy <[email protected]> Signed-off-by: ymd-stella <[email protected]> Signed-off-by: Jay Herpin <[email protected]> Signed-off-by: Greg Anderson <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Sandeep Dutta <[email protected]> Co-authored-by: Vignesh T <[email protected]> Co-authored-by: mini-1235 <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: Marco Bassa <[email protected]> Co-authored-by: Raman <[email protected]> Co-authored-by: RamanaBotta <[email protected]> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Tatsuro Sakaguchi <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: dw25628 <[email protected]> Co-authored-by: Patrick Roncagliolo <[email protected]> Co-authored-by: cboostjvisser <[email protected]> Co-authored-by: DavidG-Develop <[email protected]> Co-authored-by: olaghattas <[email protected]> Co-authored-by: hutao <[email protected]> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: Cihat Kurtuluş Altıparmak <[email protected]> Co-authored-by: Sushant Chavan <[email protected]> Co-authored-by: Tim Clephas <[email protected]> Co-authored-by: Abhishekh Reddy <[email protected]> Co-authored-by: ymd-stella <[email protected]> Co-authored-by: Jay Herpin <[email protected]> Co-authored-by: Greg Anderson <[email protected]>
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Signed-off-by: Jay Herpin <[email protected]>
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Signed-off-by: Jay Herpin <[email protected]> Signed-off-by: Decwest <[email protected]>
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backport-*.