Feature/vector object server

[Sushant-Chavan]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3017
Primary OS tested on	Ubuntu
Robotic platform tested on	Proprietary (and also in simulation)
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

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Description of contribution in a few bullet points

This PR continues from the open but non-active PR #4680. The following additional updates were performed:

1. Fix linter issues
2. Include .hpp instead of .h tf2_ros headers
3. Fixed a race condition when publishing/subscribing the map published by the vector object server, when testing the feature by following the tutorial
4. Minor cleanup

Description of documentation updates required from your changes

The PR for the corresponding documentation can be found at: ros-navigation/docs.nav2.org#766

Description of how this change was tested

1. Tested that the sim-based tutorial works as expected
2. Tested with additional boiler-plate code on a proprietary robot with keepout and speed-limit filter masks generated by the vector object server.

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Future work that may be required in bullet points

N/A

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

[codecov]

Codecov Report

❌ Patch coverage is 97.38318% with 14 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
..._map_server/src/vo_server/vector_object_shapes.cpp	96.81%	7 Missing ⚠️
nav2_map_server/src/vo_server/main.cpp	0.00%	4 Missing ⚠️
..._map_server/src/vo_server/vector_object_server.cpp	99.08%	2 Missing ⚠️
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp	50.00%	1 Missing ⚠️

Files with missing lines	Coverage Δ
nav2_collision_monitor/src/polygon.cpp	97.29% <100.00%> (-0.12%)	⬇️
..._costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp	100.00% <ø> (ø)
...nav2_costmap_2d/costmap_filters/costmap_filter.hpp	66.66% <ø> (ø)
...stmap_2d/plugins/costmap_filters/binary_filter.cpp	94.66% <100.00%> (ø)
...tmap_2d/plugins/costmap_filters/costmap_filter.cpp	88.05% <ø> (-1.56%)	⬇️
...ostmap_2d/plugins/costmap_filters/speed_filter.cpp	95.12% <100.00%> (ø)
nav2_costmap_2d/plugins/obstacle_layer.cpp	82.10% <100.00%> (ø)
nav2_costmap_2d/src/costmap_2d.cpp	88.20% <100.00%> (+0.05%)	⬆️
...er/include/nav2_map_server/vector_object_utils.hpp	100.00% <100.00%> (ø)
nav2_util/include/nav2_util/geometry_utils.hpp	96.22% <100.00%> (+1.10%)	⬆️
... and 6 more

... and 5 files with indirect coverage changes

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[SteveMacenski]

I did a medium level review, knowing that some of the details were written by Alexey and I can do a detailed review of that level in the next round. I wanted to get things I thought you should fix and will verify functionality in the next one after these are resolved.

Generally looks good to me though. I don't think I'm going to find much I object to.

[Copilot]

Pull Request Overview

This PR implements a Vector Object Server feature that allows dynamic addition, removal, and management of vector shapes (polygons and circles) on occupancy grid maps. The main purpose is to enable runtime manipulation of keepout zones, speed limit areas, and other regions on navigation maps using geometric primitives instead of static map files.

• Adds VectorObjectServer lifecycle node for managing vector shapes on maps
• Implements polygon and circle geometric primitives with transformation support
• Provides service interfaces for adding, removing, and querying vector objects

Reviewed Changes

Copilot reviewed 39 out of 39 changed files in this pull request and generated 4 comments.

File	Description
nav2_msgs/	Adds message definitions and service interfaces for vector objects
nav2_util/	Implements utility functions for raytracing, occupancy grid operations, and geometric calculations
nav2_map_server/	Core implementation of vector object server with shape management

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[SteveMacenski]

Small changes for logging and otherwise happy with this! This should be mergable immediately on these updates

[SteveMacenski]

Thanks @Sushant-Chavan for testing and refining for your application, @ajtudela for doing the hard work of continuing this from @AlexeyMerzlyakov - and of course Alexey for his core contributions here!

[ajtudela]

Great! I'm glad this has finally been merged.