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docs: migrate bond traffic to per-server topics (#6061 / navigation2#6309) #935

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docs: migrate bond traffic to per-server topics (#6061 / navigation2#6309) #935

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docs: migrate bond traffic to per-server topics
trippyogi Aug 3, 2026
df52709
docs: drop TMI migration notes for per-server bond topics
trippyogi Aug 3, 2026
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13 changes: 13 additions & 0 deletions migration/Kilted.rst
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Expand Up @@ -632,6 +632,19 @@ The following table shows the performance impact of changing the bond heartbeat

*Note: This table should be populated with data from issue #5784 comment. Composed CPU is for all Nav2 processes combined.*

Per-Server Bond Topics
----------------------

`PR #6309 <https://github.com/ros-navigation/navigation2/pull/6309>`_ changes
lifecycle bond heartbeats from a single shared ``bond`` topic to a per-server
topic ``bond/<server_name>`` (for example ``bond/controller_server``).
Both ``nav2::LifecycleNode::createBond()`` and the lifecycle manager use
``nav2::bond_topic_name()`` so peers stay aligned when they share a namespace.

This removes O(N²) DDS fan-out when many managed servers are bonded: each
heartbeat is delivered only to the matching manager/server pair instead of to
every Bond subscription on a shared topic.

Centralize Path Handler logic in Controller Server
--------------------------------------------------

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