[Humble] Spin behavior lacks disable_collision_checks flag (feature missing from newer Nav2)

[KevinEppacher]

Bug report / Feature backport request

Required Info

• Operating System: Ubuntu 22.04.5 LTS
• Computer: AMD Ryzen 9 7940HS + RTX 4090
• ROS 2 Version: Humble Hawksbill (apt binaries)
• Nav2 Package Version: ros-humble-nav2-behaviors 1.1.18-1jammy.20250915.224708
• DDS Implementation: rmw_fastrtps_cpp

---

Steps to reproduce

1. Install Nav2 from Humble apt binaries:

      sudo apt update && sudo apt install -y \
          ros-${ROS_DISTRO}-pcl-ros \
          ros-${ROS_DISTRO}-navigation2 \
          ros-${ROS_DISTRO}-nav2-bringup \
          ros-${ROS_DISTRO}-nav2-costmap-2d \
          ros-${ROS_DISTRO}-pointcloud-to-laserscan \
          ros-${ROS_DISTRO}-rviz2 \
          ros-${ROS_DISTRO}-tf2-tools \
          ros-${ROS_DISTRO}-rqt-tf-tree \
          ros-${ROS_DISTRO}-nav2-mppi-controller

2. Use the provided navigation launch file (below) that loads the standard Nav2 stack and the attached YAML configuration.
3. Trigger a spin action, for example via Behavior Tree XML or RViz:

   <Spin target_yaw="3.14"/>

4. Observe:

   [behavior_server]: Collision Ahead - Exiting Spin
   [behavior_server]: spin failed
   

---

Expected behavior

It should be possible to disable collision checking for the nav2_behaviors::Spin plugin—via parameter or BT XML flag—so that rotation can proceed even if the local costmap reports nearby obstacles (e.g. tight spaces, simulation).

Actual behavior

• In the current Humble apt binary release,
  nav2_msgs/action/Spin.action lacks the field bool disable_collision_checks.
• The plugin nav2_behaviors/plugins/spin.cpp does not expose any parameter or runtime flag to disable costmap-based collision checking.
• Every spin attempt aborts as soon as the costmap footprint touches an obstacle, regardless of configuration.

---

Reproduction configuration

Launch file (excerpt):

nav2_stack_launch = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(nav2_launch_file),
    launch_arguments={
        'use_sim_time': use_sim_time,
        'autostart': 'true',
        'params_file': nav2_config
    }.items()
)

Parameter file (relevant part):

behavior_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
      disable_collision_checks: true   # ignored, no effect

---

Verification of message definition

$ ros2 interface show nav2_msgs/action/Spin
float32 target_yaw
builtin_interfaces/Duration time_allowance
---
builtin_interfaces/Duration total_elapsed_time
---
float32 angular_distance_traveled

No disable_collision_checks field exists in the Humble binary interface.

---

Expected interface (newer Nav2)

The updated Nav2 source (post-2024) defines:

float32 target_yaw
duration time_allowance
bool disable_collision_checks
---
float32 angular_distance_traveled
---
int8 NONE=0
int8 TIMEOUT=1
int8 COLLISION_AHEAD=2
int8 TF_ERROR=3
int8 UNKNOWN=4
int8 result
string message

and includes in the plugin:

if (cmd_disable_collision_checks_) return true;

---

Suggested resolution

Backport this change set to the Humble branch (and apt binaries):

1. Add bool disable_collision_checks to nav2_msgs/action/Spin.action.
2. Update nav2_behaviors::Spin to respect that flag.
3. Ensure the field is exposed via BT XML attribute:

   <Spin target_yaw="3.14" disable_collision_checks="true"/>

This restores feature parity with Rolling/Jazzy Nav2 and allows users to rotate freely when desired.

---

Additional notes

Full navigation configuration (controller, costmaps, AMCL, etc.) is provided in my Repository SAGE for reproducing the issue; environment uses standard slam_toolbox + Nav2 bringup stack with use_sim_time=true.

[SteveMacenski]

See #5635 (comment). I don't think this can be backported unfortunately.