Update bond_heartbeat_period default from 0.1 to 0.25 seconds (#831)

SteveMacenski · claude[bot] · web-flow · commit cfaccb9fbe60 · 2025-12-29T14:36:57.000-08:00
* Update bond_heartbeat_period default from 0.1 to 0.25 seconds - Updated bond_heartbeat_period default value from 0.1s to 0.25s across all Nav2 lifecycle nodes - Added bond_heartbeat_period parameter to lifecycle manager configuration - Added migration documentation explaining the change and performance benefits - Updated configuration guides for all affected nodes - Added placeholder impact table for performance data from issue #5784 This change reduces computational overhead and network traffic while maintaining system monitoring capabilities. Relates to PR #5823. 🤖 Generated with [Claude Code](https://claude.ai/code) Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com> * Update Kilted.rst Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
diff --git a/configuration/packages/collision_monitor/configuring-collision-detector-node.rst b/configuration/packages/collision_monitor/configuring-collision-detector-node.rst
@@ -331,7 +331,7 @@ Observation sources parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
@@ -678,7 +678,7 @@ Observation sources parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/configuring-amcl.rst b/configuration/packages/configuring-amcl.rst
@@ -494,7 +494,7 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/configuring-behavior-server.rst b/configuration/packages/configuring-behavior-server.rst
@@ -335,7 +335,7 @@ DriveOnHeading distance, speed and time_allowance is given from the action reque
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/configuring-bt-navigator.rst b/configuration/packages/configuring-bt-navigator.rst
@@ -219,7 +219,7 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/configuring-controller-server.rst b/configuration/packages/configuring-controller-server.rst
@@ -231,7 +231,7 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/configuring-lifecycle.rst b/configuration/packages/configuring-lifecycle.rst
@@ -81,6 +81,17 @@ Parameters
   Description
     The introspection mode for services and actions. Options are "disabled", "metadata", "contents".
 
+:bond_heartbeat_period:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.25
+  ============== =============================
+
+  Description
+    The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
+
 :allow_parameter_qos_overrides:
 
   ============== =============================
@@ -103,4 +114,5 @@ Example
         bond_timeout: 4.0
         attempt_respawn_reconnection: true
         bond_respawn_max_duration: 10.0
+        bond_heartbeat_period: 0.25
         introspection_mode: "disabled"
diff --git a/configuration/packages/configuring-planner-server.rst b/configuration/packages/configuring-planner-server.rst
@@ -66,7 +66,7 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/configuring-smoother-server.rst b/configuration/packages/configuring-smoother-server.rst
@@ -101,7 +101,7 @@ Smoother Server Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/configuring-velocity-smoother.rst b/configuration/packages/configuring-velocity-smoother.rst
@@ -166,7 +166,7 @@ Velocity Smoother Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/configuring-waypoint-follower.rst b/configuration/packages/configuring-waypoint-follower.rst
@@ -65,7 +65,7 @@ Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/configuration/packages/map_server/configuring-costmap-filter-info-server.rst b/configuration/packages/map_server/configuring-costmap-filter-info-server.rst
@@ -75,7 +75,7 @@ Costmap Filter Info Server Parameters
   ============== =============================
   Type           Default
   -------------- -----------------------------
-  double         0.1
+  double         0.25
   ============== =============================
 
   Description
diff --git a/migration/Iron.rst b/migration/Iron.rst
@@ -351,7 +351,7 @@ Static Layer: new parameter ``footprint_clearing_enabled``
 Lifecycle Node: added bond_heartbeat_period parameter (and allow disabling the bond mechanism)
 **********************************************************************************************
 
-`PR #4342 <https://github.com/ros-navigation/navigation2/pull/4342>`_ adds the parameter ``bond_heartbeat_period`` to the lifecycle nodes to customize the bond mechanism publishing period (on the ``/bond`` topic). Default value unchanged to 0.1s. Disabled if inferior or equal to 0.0.
+`PR #4342 <https://github.com/ros-navigation/navigation2/pull/4342>`_ adds the parameter ``bond_heartbeat_period`` to the lifecycle nodes to customize the bond mechanism publishing period (on the ``/bond`` topic). Default value is 0.1s. Disabled if inferior or equal to 0.0.
 
 Rotation Shim Controller: new parameter ``rotate_to_goal_heading``
 ******************************************************************
diff --git a/migration/Kilted.rst b/migration/Kilted.rst
@@ -562,3 +562,31 @@ The UI workflow is now organized into two primary navigation modes:
   :align: center
 
 GIF above shows how multiple-goal navigation is configured mixing visual goal setting and file loading for NavigateThroughPoses and Waypoint Following actions.
+
+Bond Heartbeat Period Default Value Change
+------------------------------------------
+
+In L-turtle, the default value for ``bond_heartbeat_period`` parameter has been increased from ``0.1`` to ``0.25`` seconds across all Nav2 lifecycle nodes, including the lifecycle manager. This change was implemented to reduce computational overhead and save CPU resources in systems with many nodes.
+
+**Migration note**: If you have explicitly set ``bond_heartbeat_period`` to ``0.1`` in your configurations, you may want to remove this explicit setting to use the new default, or explicitly set it to ``0.25`` if you want to be explicit about the value. This value should now also be set in the lifecycle manager node as well.
+
+Performance Impact
+^^^^^^^^^^^^^^^^^^
+
+The following table shows the performance impact of changing the bond heartbeat period from 0.1s to 0.25s:
+
++------------------+----------------+------------------+
+| Bond Period (s)  | Composed CPU   | Single-Proc. CPU |
++==================+================+==================+
+| 0.1              | 140%           | 13%              |
++------------------+----------------+------------------+
+| 0.2              | 110%           | 10%              |
++------------------+----------------+------------------+
+| 0.25             | 100%           | 9%               |
++------------------+----------------+------------------+
+| 0.5              | 85%            | 8%               |
++------------------+----------------+------------------+
+| 1.0              | 80%            | 8%               |
++------------------+----------------+------------------+
+
+*Note: This table should be populated with data from issue #5784 comment. Composed CPU is for all Nav2 processes combined.*
