Fix: Nav objectives discard click-time pose stamps

[griswaldbrooks]

[written by AI]

needs: moveit_pro/#20320

Problem

Navigate to Clicked Point (and its replanning variant) zero the goal pose's timestamp before sending it to Nav2: ComputePathToPoseAction is invoked with ignore_stamp_time="true" and NavigateToPoseAction relies on the same port's true default. A zero stamp means "resolve with the latest transform", so a goal clicked in a moving frame (e.g. base_link with the fixed-frame selector from moveit_pro#20259) re-anchors to wherever the robot is at lookup time instead of where it was when the user clicked.

moveit_pro#20320 makes the backend stamp GetPoseFromUser responses with receipt time — but that stamp is discarded as long as these objectives zero it again.

Approach

Set ignore_stamp_time="false" on both nav actions so the receipt-time stamp survives to Nav2, which resolves the goal's frame as of the click. Safe with or without moveit_pro#20320: before it, the stamp is zero anyway (identical behavior); after it, the stamp is fresh (tens of ms old) so no transform-tolerance risk.

The needs: token stacks this PR's integration tests on moveit_pro#20320's image so the combined behavior is what CI exercises.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 537999d9-5b05-4cde-a6d2-3a8b8d27be56

📥 Commits

Reviewing files that changed from the base of the PR and between 1fe4b0f and 9647e1e.

📒 Files selected for processing (2)

• src/hangar_sim/objectives/navigate_to_clicked_point.xml
• src/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml

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📝 Walkthrough

Summary by CodeRabbit

• Bug Fixes
  • Improved navigation behavior when selecting a point or goal to move toward.
  • Paths now use the goal’s timestamp more consistently, helping avoid issues caused by stale timing information during navigation and replanning.

Walkthrough

Two behavior tree XML objective files were modified to change timestamp handling in navigation actions. The ignore_stamp_time attribute was set to false in ComputePathToPoseAction (changed from true) and added as false in NavigateToPoseAction.

Changes

Navigation XML Timestamp Configuration

Layer / File(s)	Summary
Set ignore_stamp_time false on navigation actions src/hangar_sim/objectives/navigate_to_clicked_point.xml, src/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml	ignore_stamp_time changed from true to false on ComputePathToPoseAction, and added as false on NavigateToPoseAction, so both actions now honor the goal pose's timestamp instead of ignoring it.

Possibly related issues

• PickNikRobotics/moveit_pro#20336: Addresses honoring pose header stamps in the same navigation flow that this PR updates via ignore_stamp_time="false".

Suggested reviewers: marioprats

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The description matches the XML changes, which stop discarding click-time pose stamps in both navigation objectives.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Human Review Check	✅ Passed	Only two XML objectives in src/hangar_sim changed; no files in moveit_pro_behavior or moveit_pro_behavior_interface, and no CI/infra/public API touched.

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[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 35 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 16 passed