spin_plugin: add disable_collision_checks option (humble)

nav2_behaviors/include/nav2_behaviors/plugins/spin.hpp

@@ -80,6 +80,7 @@ class Spin : public TimedBehavior<SpinAction>
   double prev_yaw_;
   double relative_yaw_;
   double simulate_ahead_time_;
+  bool cmd_disable_collision_checks_;
   rclcpp::Duration command_time_allowance_{0, 0};
   rclcpp::Time end_time_;
 };

nav2_behaviors/plugins/spin.cpp

@@ -37,7 +37,8 @@ Spin::Spin()
   cmd_yaw_(0.0),
   prev_yaw_(0.0),
   relative_yaw_(0.0),
-  simulate_ahead_time_(0.0)
+  simulate_ahead_time_(0.0),
+  cmd_disable_collision_checks_(false)
 {
 }
 
@@ -82,6 +83,8 @@ Status Spin::onRun(const std::shared_ptr<const SpinAction::Goal> command)
     return Status::FAILED;
   }
 
+  cmd_disable_collision_checks_ = command->disable_collision_checks;
+
   prev_yaw_ = tf2::getYaw(current_pose.pose.orientation);
   relative_yaw_ = 0.0;
 
@@ -163,6 +166,7 @@ bool Spin::isCollisionFree(
   geometry_msgs::msg::Pose2D & pose2d)
 {
   // Simulate ahead by simulate_ahead_time_ in cycle_frequency_ increments
+  if (cmd_disable_collision_checks_) return true;
   int cycle_count = 0;
   double sim_position_change;
   const int max_cycle_count = static_cast<int>(cycle_frequency_ * simulate_ahead_time_);

nav2_msgs/action/Spin.action

@@ -1,6 +1,7 @@
 #goal definition
 float32 target_yaw
 builtin_interfaces/Duration time_allowance
+bool disable_collision_checks
 ---
 #result definition
 builtin_interfaces/Duration total_elapsed_time