feat(opennav_docking): add on-demand detector client & unit tests for dock plugins (#5015)#5218

Merged

SteveMacenski merged 34 commits intoros-navigation:mainfrom

bkoensgen:feature/detector-toggle-5015

Sep 16, 2025

Commits on Sep 16, 2025

feat(opennav_docking): Add dynamic lifecycle for external detectors
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fix: Address review feedback and fix unit tests
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refactor(docking): Improve plugin lifecycle and resource management
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fix(plugins): Resolve race condition by setting enabled state in callback
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refactor(docking): migrate to nav2_ros_common (node_utils, LifecycleNode, QoS)
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build(opennav_docking): update deps (std_srvs, package.xml + CMakeLists)
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refactor(Docking): migrate to nav2::LifecycleNode
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refactor(docking): use nav2::qos::StandardTopicQoS for subscriptions
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refactor(opennav_docking): replace raw queue size with rclcpp::QoS(1) in pubs/subs
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refactor(tests): migrate nav2_util::NodeThread to nav2::NodeThread
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refactor(tests): migrate to 3-args service callbacks
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style(test): apply ament_uncrustify
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refactor(opennav_docking) migrate detector Trigger service to node_->create_client()
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docking: use nav2 types for pubs/subs in SimpleChargingDock and add explicit detection state flags
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docking: use nav2 types for pubs/subs in SimpleNonChargingDock and add explicit detection state flags
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docking: split detection state in SimpleChargingDock (detection_started_ vs initial_pose_received_) and warn before first pose
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docking: split detection state in SimpleNonChargingDock (detection_started_ vs initial_pose_received_) and warn before first pose
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tests: adapt SimpleChargingDockTestable to initial_pose_received_ state
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tests: adapt SimpleNonChargingDockTestable to initial_pose_received_ state
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docs(docking): clarify external detection gating and subscribe_toggle behavior (default=false)
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fix(docking): keep SimpleNonChargingDock registered as ChargingDock (stay in-scope)
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docs(docking): revert README note to pre-e881de19 state
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fix(docking_server): remove redundant null-check before stopDetectionProcess() in terminal cleanup
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style(docking_server): unify terminal order (stash->publishZeroVelocity->stopDetection->terminate)
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lint
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fix(docking): inline detection process
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chore(docking): drop redundant detector comment
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chore(docking): clarify detector logs
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fix(docking): activate lifecycle publishers
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chore(docking): reuse dock pose subscription
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lint
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fix(docking_server): drop redundant DB deactivate on cleanup
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refactor(docking): rename detection state flag to detection_active
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fix(docking): reset detection flags on cleanup
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