ros-navigation/navigation2

5.0

Adjusted Score

5.0

Raw Score

100%

Time Factor

2026-07-14

Last Push

4.5K

Stars

C++

Language

325.0K

Lines of Code

1.6K

Files

1.5K

Pattern Hits

2026-07-14

Scan Date

0.01

HC Hit Rate

What These Metrics Mean

Adjusted Score: Primary synthetic code indicator. Raw score normalised per 1,000 lines of code and multiplied by the temporal discount factor. This is the definitive comparative metric — use it to rank repositories by AI authorship density.
Raw Score: The unmodified sum of all severity-weighted, context-multiplied pattern match scores before temporal discounting. Reflects the absolute signal strength independent of when the repository was last active.
Time Factor: The temporal discount multiplier (0–100%) applied to the raw score. Repositories last updated before ChatGPT's launch (Nov 2022) receive a 5% factor. Full signal is only assigned to repositories active in the post-adoption era (Jan 2024+).
Pattern Hits: Total count of individual pattern matches across all files and categories. A high hit count with a low score may indicate a very large codebase with isolated AI snippets; a low count with a high score indicates dense, concentrated AI signatures.
HC Hit Rate: High+Critical pattern hits per file, averaged across the repository. This orthogonal signal catches repositories where a few files are densely packed with high-severity AI tells — a strong indicator even when the normalised score appears moderate due to codebase size.
Lines of Code / Files: Total lines and files analysed. The scanner examines 94 file extensions. These denominators are used to normalise the score, enabling fair comparison between repositories of vastly different sizes.

Score History

Longitudinal tracking requires multiple scan runs. Once this repository is re-scanned after new commits land, this chart will visualise how the synthetic code signal evolves over time — enabling you to detect whether AI authorship is growing, stabilising, or being actively corrected by human engineers.

No multi-scan history yet — run the scanner again to build trend data.

Severity Breakdown

Classifies detected patterns by their diagnostic confidence and structural impact. CRITICAL patterns (coefficient 10) represent definitive synthetic signatures — hallucinated imports, explicit LLM attribution metadata — virtually never produced by human authors. HIGH (5) indicates strong structural tells such as cross-file repetition or cross-linguistic idioms. MEDIUM (2) covers recognisable conversational padding and AI-specific vocabulary. LOW (1) captures subtle indicators like tautological comments and generic boilerplate that require density to carry independent signal.

CRITICAL 0HIGH 11MEDIUM 40LOW 1449

Directory Score Breakdown

This horizontal bar chart decomposes the repository's raw synthetic code score by top-level directory, allowing you to pinpoint precisely which modules or components carry the highest AI authorship density. Directories with disproportionately high scores relative to their size warrant targeted manual review: concentrated AI signatures often trace back to mass-generated configuration layers, auto-ported test suites, LLM-scaffolded boilerplate classes, or entire subsystems authored under heavy copilot assistance. Use this view to prioritise your human code-review effort.

Pattern Findings

The scanner identified 1500 distinct pattern matches across 15 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a statistically significant AI authorship indicator. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.

Reading the findings table: The Severity column indicates the diagnostic confidence level (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — comment-context matches receive a ×1.5 weight because LLMs systematically over-annotate. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier as dense clusters constitute far stronger evidence of synthetic authorship than isolated hits.

Over-Commented Block1166 hits · 1166 pts

Severity	File	Line	Snippet	Context
LOW	.pre-commit-config.yaml	1		COMMENT
LOW	nav2_map_server/test/unit/test_vector_object_shapes.cpp	1	// Copyright (c) 2023 Samsung R&D Institute Russia	COMMENT
LOW	nav2_map_server/test/unit/test_vector_object_shapes.cpp	21	#include <memory>	COMMENT
LOW	…p_server/test/unit/test_costmap_filter_info_server.cpp	1	// Copyright (c) 2020 Samsung Research Russia	COMMENT
LOW	nav2_map_server/test/unit/test_vector_object_server.cpp	1	// Copyright (c) 2023 Samsung R&D Institute Russia	COMMENT
LOW	nav2_map_server/test/unit/test_vector_object_server.cpp	21	#include <string>	COMMENT
LOW	…2_map_server/test/map_saver_cli/test_map_saver_cli.cpp	1	// Copyright (c) 2020 Samsung Research America	COMMENT
LOW	nav2_map_server/test/component/test_map_server_node.cpp	1	// Copyright (c) 2018 Intel Corporation	COMMENT
LOW	…v2_map_server/test/component/test_map_server_launch.py	1	#!/usr/bin/env python3	COMMENT
LOW	nav2_map_server/test/component/test_map_saver_launch.py	1	#!/usr/bin/env python3	COMMENT
LOW	…map_server/test/component/test_map_saver_publisher.cpp	1	// Copyright (c) 2020 Samsung Research Russia	COMMENT
LOW	nav2_map_server/test/component/test_map_saver_node.cpp	1	// Copyright (c) 2020 Samsung Research Russia	COMMENT
LOW	…erver/test/test_launch_files/map_server_node.launch.py	1	#!/usr/bin/env python3	COMMENT
LOW	…server/test/test_launch_files/map_saver_node.launch.py	1	#!/usr/bin/env python3	COMMENT
LOW	nav2_map_server/launch/vector_object_server.launch.py	1	#!/usr/bin/env python3	COMMENT
LOW	nav2_map_server/launch/map_saver_server.launch.py	1	#!/usr/bin/env python3	COMMENT
LOW	nav2_map_server/include/nav2_map_server/map_mode.hpp	1	// Copyright (c) 2019 Rover Robotics	COMMENT
LOW	…erver/include/nav2_map_server/vector_object_shapes.hpp	1	// Copyright (c) 2023 Samsung R&D Institute Russia	COMMENT
LOW	…erver/include/nav2_map_server/vector_object_server.hpp	1	// Copyright (c) 2023 Samsung R&D Institute Russia	COMMENT
LOW	…erver/include/nav2_map_server/vector_object_server.hpp	21		COMMENT
LOW	nav2_map_server/include/nav2_map_server/map_io.hpp	1	// Copyright (c) 2018 Intel Corporation	COMMENT
LOW	nav2_map_server/include/nav2_map_server/map_saver.hpp	1	// Copyright (c) 2020 Samsung Research Russia	COMMENT
LOW	…include/nav2_map_server/costmap_filter_info_server.hpp	1	// Copyright (c) 2020 Samsung Research Russia	COMMENT
LOW	…server/include/nav2_map_server/vector_object_utils.hpp	1	// Copyright (c) 2023 Samsung R&D Institute Russia	COMMENT
LOW	nav2_map_server/include/nav2_map_server/map_server.hpp	1	// Copyright (c) 2018 Intel Corporation	COMMENT
LOW	nav2_map_server/src/map_io.cpp	41	#include <iostream>	COMMENT
LOW	nav2_map_server/src/map_mode.cpp	1	// Copyright 2019 Rover Robotics	COMMENT
LOW	…src/costmap_filter_info/costmap_filter_info_server.cpp	1	// Copyright (c) 2020 Samsung Research Russia	COMMENT
LOW	nav2_map_server/src/costmap_filter_info/main.cpp	1	// Copyright (c) 2020 Samsung Research Russia	COMMENT
LOW	nav2_map_server/src/map_saver/main_server.cpp	1	// Copyright (c) 2020 Samsung Research Russia	COMMENT
LOW	nav2_map_server/src/map_saver/main_cli.cpp	1	// Copyright 2019 Rover Robotics	COMMENT
LOW	nav2_map_server/src/map_server/main.cpp	1	// Copyright (c) 2018 Intel Corporation	COMMENT
LOW	nav2_map_server/src/vo_server/vector_object_shapes.cpp	1	// Copyright (c) 2023 Samsung R&D Institute Russia	COMMENT
LOW	nav2_map_server/src/vo_server/vector_object_server.cpp	1	// Copyright (c) 2023 Samsung R&D Institute Russia	COMMENT
LOW	nav2_map_server/src/vo_server/main.cpp	1	// Copyright (c) 2023 Samsung R&D Institute Russia	COMMENT
LOW	nav2_controller/test/test_controller_server.cpp	1	// Copyright (c) 2021, Samsung Research America	COMMENT
LOW	nav2_controller/plugins/pose_progress_checker.cpp	1	// Copyright (c) 2023 Dexory	COMMENT
LOW	nav2_controller/plugins/position_goal_checker.cpp	1	// Copyright (c) 2025 Prabhav Saxena	COMMENT
LOW	…controller/plugins/adaptive_tolerance_goal_checker.cpp	1	// Copyright (c) 2026, David Grbac	COMMENT
LOW	nav2_controller/plugins/simple_progress_checker.cpp	1	// Copyright (c) 2019 Intel Corporation	COMMENT
LOW	nav2_controller/plugins/axis_goal_checker.cpp	1	// Copyright (c) 2025 Dexory	COMMENT
LOW	nav2_controller/plugins/feasible_path_handler.cpp	1	// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov	COMMENT
LOW	nav2_controller/plugins/test/path_handler.cpp	1	// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov	COMMENT
LOW	nav2_controller/plugins/test/axis_goal_checker.cpp	1	// Copyright (c) 2025 Dexory	COMMENT
LOW	…ntroller/include/nav2_controller/controller_server.hpp	1	// Copyright (c) 2019 Intel Corporation	COMMENT
LOW	…ntroller/include/nav2_controller/controller_server.hpp	21	#include <unordered_map>	COMMENT
LOW	…ntroller/include/nav2_controller/parameter_handler.hpp	1	// Copyright (c) 2022 Samsung Research America	COMMENT
LOW	…lude/nav2_controller/plugins/feasible_path_handler.hpp	1	// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov	COMMENT
LOW	…de/nav2_controller/plugins/simple_progress_checker.hpp	1	// Copyright (c) 2019 Intel Corporation	COMMENT
LOW	…/include/nav2_controller/plugins/axis_goal_checker.hpp	1	// Copyright (c) 2025 Dexory	COMMENT
LOW	…lude/nav2_controller/plugins/position_goal_checker.hpp	1	// Copyright (c) 2025 Prabhav Saxena	COMMENT
LOW	…controller/plugins/adaptive_tolerance_goal_checker.hpp	1	// Copyright (c) 2026, David Grbac	COMMENT
LOW	…lude/nav2_controller/plugins/pose_progress_checker.hpp	1	// Copyright (c) 2023 Dexory	COMMENT
LOW	nav2_controller/src/parameter_handler.cpp	1	// Copyright (c) 2022 Samsung Research America	COMMENT
LOW	nav2_controller/src/controller_server.cpp	1	// Copyright (c) 2019 Intel Corporation	COMMENT
LOW	nav2_controller/src/controller_server.cpp	941	#include "rclcpp_components/register_node_macro.hpp"	COMMENT
LOW	nav2_controller/src/main.cpp	1	// Copyright (c) 2019 Intel Corporation	COMMENT
LOW	nav2_system_tests/src/system_failure/tester_node.py	1	#! /usr/bin/env python3	COMMENT
LOW	…tests/src/system_failure/test_system_failure_launch.py	1	#!/usr/bin/env python3	COMMENT
LOW	nav2_system_tests/src/route/test_route_launch.py	1	#!/usr/bin/env python3	COMMENT
1106 more matches not shown…

Hyper-Verbose Identifiers149 hits · 145 pts

Severity	File	Line	Snippet	Context
LOW	…erver/test/test_launch_files/map_server_node.launch.py	23	def generate_launch_description() -> LaunchDescription:	CODE
LOW	…server/test/test_launch_files/map_saver_node.launch.py	24	def generate_launch_description() -> LaunchDescription:	CODE
LOW	nav2_map_server/launch/vector_object_server.launch.py	29	def generate_launch_description() -> LaunchDescription:	CODE
LOW	nav2_map_server/launch/map_saver_server.launch.py	21	def generate_launch_description() -> LaunchDescription:	CODE
LOW	…tests/src/system_failure/test_system_failure_launch.py	33	def generate_launch_description():	CODE
LOW	nav2_system_tests/src/route/test_route_launch.py	32	def generate_launch_description():	CODE
LOW	…ystem_tests/src/costmap_filters/test_keepout_launch.py	33	def generate_launch_description():	CODE
LOW	nav2_system_tests/src/costmap_filters/tester_node.py	314	def wait_for_pointcloud_subscribers(self, timeout: float) -> bool:	CODE
LOW	…_system_tests/src/costmap_filters/test_speed_launch.py	33	def generate_launch_description():	CODE
LOW	nav2_system_tests/src/system/test_system_launch.py	33	def generate_launch_description():	CODE
LOW	nav2_system_tests/src/system/test_multi_robot_launch.py	40	def generate_launch_description():	CODE
LOW	…m_tests/src/system/test_system_with_obstacle_launch.py	33	def generate_launch_description():	CODE
LOW	…system_tests/src/system/test_wrong_init_pose_launch.py	33	def generate_launch_description():	CODE
LOW	nav2_system_tests/src/updown/test_updown_launch.py	23	def generate_launch_description() -> launch.LaunchDescription:	CODE
LOW	…_tests/src/behaviors/wait/test_wait_behavior_launch.py	30	def generate_launch_description():	CODE
LOW	…ssisted_teleop/test_assisted_teleop_behavior_launch.py	30	def generate_launch_description():	CODE
LOW	…ve_on_heading/test_drive_on_heading_behavior.launch.py	31	def generate_launch_description():	CODE
LOW	…_tests/src/behaviors/spin/test_spin_behavior.launch.py	31	def generate_launch_description():	CODE
LOW	…ts/src/behaviors/backup/test_backup_behavior.launch.py	31	def generate_launch_description():	CODE
LOW	…system_tests/src/waypoint_follower/test_case_launch.py	31	def generate_launch_description():	CODE
LOW	…tem_tests/src/gps_navigation/dual_ekf_navsat.launch.py	21	def generate_launch_description() -> LaunchDescription:	CODE
LOW	…system_tests/src/gps_navigation/test_case_py.launch.py	30	def generate_launch_description():	CODE
LOW	…ystem_tests/src/error_codes/test_error_codes_launch.py	25	def generate_launch_description():	CODE
LOW	…v2_docking/opennav_docking/test/test_docking_server.py	52	def generate_test_description():	CODE
LOW	…v2_docking/opennav_docking/test/test_docking_server.py	134	def wait_for_node_to_be_active(self, node_name, timeout_sec=30.0):	CODE
LOW	…v2_docking/opennav_docking/test/test_docking_server.py	157	def command_velocity_callback(self, msg):	CODE
LOW	…lision_monitor/test/test_collision_monitor_node_bag.py	29	def generate_test_description():	CODE
LOW	…lision_monitor/launch/collision_monitor_node.launch.py	29	def generate_launch_description() -> LaunchDescription:	CODE
LOW	…ision_monitor/launch/collision_detector_node.launch.py	29	def generate_launch_description() -> LaunchDescription:	CODE
LOW	…2_smac_planner/lattice_primitives/lattice_generator.py	115	def _get_heading_discretization(self, number_of_headings: int) -> List[float]:	CODE
LOW	…2_smac_planner/lattice_primitives/lattice_generator.py	246	def _compute_min_trajectory_length(self) -> float:	CODE
LOW	…2_smac_planner/lattice_primitives/lattice_generator.py	270	def _generate_minimal_spanning_set(self) -> Dict[float, List[Trajectory]]:	CODE
LOW	…2_smac_planner/lattice_primitives/lattice_generator.py	306	def _compute_for_single_heading(self, start_heading: float	CODE
LOW	…2_smac_planner/lattice_primitives/lattice_generator.py	428	def _create_complete_minimal_spanning_set(	CODE
LOW	…anner/lattice_primitives/generate_motion_primitives.py	76	def create_heading_angle_list(minimal_set_trajectories: Dict[float, List[Trajectory]]	CODE
LOW	…mac_planner/lattice_primitives/trajectory_generator.py	334	def _calculate_trajectory_params(	CODE
LOW	…/lattice_primitives/tests/test_trajectory_generator.py	34	def test_generate_trajectory_only_arc(self):	CODE
LOW	…/lattice_primitives/tests/test_trajectory_generator.py	83	def test_generate_trajectory_only_line(self):	CODE
LOW	…/lattice_primitives/tests/test_trajectory_generator.py	132	def test_generate_trajectory_line_to_arc(self):	CODE
LOW	…/lattice_primitives/tests/test_trajectory_generator.py	181	def test_generate_trajectory_line_to_end(self):	CODE
LOW	…/lattice_primitives/tests/test_trajectory_generator.py	230	def test_generate_trajectory_radius_too_small(self):	CODE
LOW	…/lattice_primitives/tests/test_trajectory_generator.py	263	def test_generate_trajectory_parallel_lines_coincident(self):	CODE
LOW	…/lattice_primitives/tests/test_trajectory_generator.py	288	def test_generate_trajectory_parallel_lines_not_coincident(self):	CODE
LOW	…ner/lattice_primitives/tests/test_lattice_generator.py	45	def test_minimal_set_lengths_are_positive(self):	CODE
LOW	…ner/lattice_primitives/tests/test_lattice_generator.py	56	def test_minimal_set_end_points_lie_on_grid(self):	CODE
LOW	…ner/lattice_primitives/tests/test_lattice_generator.py	71	def test_minimal_set_end_angle_is_correct(self):	CODE
LOW	…ner/lattice_primitives/tests/test_lattice_generator.py	81	def test_output_angles_in_correct_range(self):	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	141	def update_paths_for_external_repos(config: dict, clone_dir: Path) -> None:	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	341	def validate_bt_xml_structure(root: ET.Element) -> ET.Element:	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	403	def extract_node_registration_data(content: str) -> dict[str, str]:	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	464	def extract_cpp_classes_and_ids(cpp_files: list[Path]) -> CPPData:	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	499	def extract_class_definitions(	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	557	def extract_hpp_classes_and_ports_data(	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	665	def detect_bt_nodes_mismatches(bt_node_ids_code: BTNodes, bt_node_ids_xml: BTNodes) -> bool:	CODE
LOW	…bt_nodes_validation/test/test_detect_duplicate_data.py	10	def test_duplicated_cpp_classes_across_files(	CODE
LOW	…bt_nodes_validation/test/test_detect_duplicate_data.py	59	def test_duplicated_node_ids_across_files(	CODE
LOW	…bt_nodes_validation/test/test_detect_duplicate_data.py	103	def test_duplicated_hpp_classes_across_files(	CODE
LOW	…bt_nodes_validation/test/test_detect_duplicate_data.py	147	def test_duplicated_ports_from_base_class(	CODE
LOW	…ols/bt_nodes_validation/test/test_validation_errors.py	12	def test_node_in_code_missing_in_xml(	CODE
LOW	…ols/bt_nodes_validation/test/test_validation_errors.py	57	def test_node_in_xml_missing_in_code(	CODE
89 more matches not shown…

Self-Referential Comments32 hits · 96 pts

Severity	File	Line	Snippet	Context
MEDIUM	nav2_system_tests/src/system/nav_to_pose_tester_node.py	202	# Define the socket using the 'Context'	COMMENT
MEDIUM	…v2_docking/opennav_docking/test/test_docking_server.py	116	# Create a ROS node for tests	COMMENT
MEDIUM	…v2_docking/opennav_docking/test/test_docking_server.py	232	# Create a timer to run "control loop" at 20hz	COMMENT
MEDIUM	…2_smac_planner/lattice_primitives/lattice_generator.py	214	# Create a bounding box search region	COMMENT
MEDIUM	…2_smac_planner/lattice_primitives/lattice_generator.py	378	# Create a new bounding box in the RTree	COMMENT
MEDIUM	…2_smac_planner/lattice_primitives/lattice_generator.py	742	# Create a new set of parameters that represents	COMMENT
MEDIUM	…2_smac_planner/lattice_primitives/lattice_generator.py	757	# Create a new set of parameters that represents	COMMENT
MEDIUM	…anner/lattice_primitives/generate_motion_primitives.py	229	# Create the directory if it doesn't exist	COMMENT
MEDIUM	tools/bt2img.py	280	# Create a unique dot node for this SubTree element	COMMENT
MEDIUM	nav2_common/test/test_rewritten_yaml.py	31	# Create a temporary YAML file for testing	COMMENT
MEDIUM	…lowing/opennav_following/test/test_following_server.py	101	# Create a dedicated node and executor so timers and clocks behave correctly	COMMENT
MEDIUM	…lowing/opennav_following/test/test_following_server.py	185	# Create a ROS node for tests	COMMENT
MEDIUM	…lowing/opennav_following/test/test_following_server.py	298	# Create a timer to run "control loop" at 20hz	COMMENT
MEDIUM	…lowing/opennav_following/test/test_following_server.py	334	# Create the goal	COMMENT
MEDIUM	…2_bringup/launch/unique_multi_tb3_simulation_launch.py	243	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/tb3_simulation_launch.py	38	# Create the launch configuration variables	COMMENT
MEDIUM	nav2_bringup/launch/tb3_simulation_launch.py	256	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/rviz_launch.py	31	# Create the launch configuration variables	COMMENT
MEDIUM	nav2_bringup/launch/rviz_launch.py	78	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/localization_launch.py	245	# Create the launch description and populate	COMMENT
MEDIUM	…2_bringup/launch/cloned_multi_tb3_simulation_launch.py	220	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/tb3_loopback_simulation_launch.py	37	# Create the launch configuration variables	COMMENT
MEDIUM	nav2_bringup/launch/tb3_loopback_simulation_launch.py	236	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/tb4_loopback_simulation_launch.py	37	# Create the launch configuration variables	COMMENT
MEDIUM	nav2_bringup/launch/tb4_loopback_simulation_launch.py	243	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/bringup_launch.py	34	# Create the launch configuration variables	COMMENT
MEDIUM	nav2_bringup/launch/bringup_launch.py	264	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/navigation_launch.py	409	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/keepout_zone_launch.py	219	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/speed_zone_launch.py	219	# Create the launch description and populate	COMMENT
MEDIUM	nav2_bringup/launch/tb4_simulation_launch.py	54	# Create the launch configuration variables	COMMENT
MEDIUM	nav2_bringup/launch/tb4_simulation_launch.py	302	# Create the launch description and populate	COMMENT

Unused Imports51 hits · 51 pts

Severity	File	Line	Context
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	1	CODE
LOW	…es_validation/test/unit/test_extract_xml_nodes_data.py	1	CODE
LOW	nav2_msgs/msg/__init__.py	1	CODE
LOW	nav2_msgs/msg/__init__.py	2	CODE
LOW	nav2_msgs/msg/__init__.py	3	CODE
LOW	nav2_msgs/msg/__init__.py	4	CODE
LOW	nav2_msgs/msg/__init__.py	5	CODE
LOW	nav2_msgs/msg/__init__.py	6	CODE
LOW	nav2_msgs/msg/__init__.py	7	CODE
LOW	nav2_msgs/msg/__init__.py	8	CODE
LOW	nav2_msgs/msg/__init__.py	9	CODE
LOW	nav2_msgs/msg/__init__.py	10	CODE
LOW	nav2_msgs/msg/__init__.py	11	CODE
LOW	nav2_msgs/msg/__init__.py	12	CODE
LOW	nav2_msgs/msg/__init__.py	13	CODE
LOW	nav2_msgs/msg/__init__.py	14	CODE
LOW	nav2_msgs/action/__init__.py	1	CODE
LOW	nav2_msgs/action/__init__.py	2	CODE
LOW	nav2_msgs/action/__init__.py	3	CODE
LOW	nav2_msgs/action/__init__.py	4	CODE
LOW	nav2_msgs/action/__init__.py	5	CODE
LOW	nav2_msgs/action/__init__.py	6	CODE
LOW	nav2_msgs/action/__init__.py	7	CODE
LOW	nav2_msgs/action/__init__.py	8	CODE
LOW	nav2_msgs/action/__init__.py	9	CODE
LOW	nav2_msgs/action/__init__.py	10	CODE
LOW	nav2_msgs/action/__init__.py	11	CODE
LOW	nav2_msgs/action/__init__.py	12	CODE
LOW	nav2_msgs/action/__init__.py	13	CODE
LOW	nav2_msgs/action/__init__.py	14	CODE
LOW	nav2_msgs/action/__init__.py	15	CODE
LOW	nav2_msgs/action/__init__.py	16	CODE
LOW	nav2_msgs/action/__init__.py	17	CODE
LOW	nav2_msgs/action/__init__.py	18	CODE
LOW	nav2_msgs/srv/__init__.py	1	CODE
LOW	nav2_msgs/srv/__init__.py	2	CODE
LOW	nav2_msgs/srv/__init__.py	3	CODE
LOW	nav2_msgs/srv/__init__.py	4	CODE
LOW	nav2_msgs/srv/__init__.py	5	CODE
LOW	nav2_msgs/srv/__init__.py	6	CODE
LOW	nav2_msgs/srv/__init__.py	7	CODE
LOW	nav2_msgs/srv/__init__.py	8	CODE
LOW	nav2_msgs/srv/__init__.py	9	CODE
LOW	nav2_msgs/srv/__init__.py	10	CODE
LOW	nav2_msgs/srv/__init__.py	11	CODE
LOW	nav2_msgs/srv/__init__.py	12	CODE
LOW	nav2_msgs/srv/__init__.py	13	CODE
LOW	nav2_common/nav2_common/launch/__init__.py	15	CODE
LOW	nav2_common/nav2_common/launch/__init__.py	16	CODE
LOW	nav2_common/nav2_common/launch/__init__.py	17	CODE
LOW	nav2_common/nav2_common/launch/__init__.py	18	CODE

Excessive Try-Catch Wrapping48 hits · 50 pts

Severity	File	Line	Snippet	Context
LOW	nav2_system_tests/src/system_failure/tester_node.py	194	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/system_failure/tester_node.py	209	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/route/tester_node.py	398	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/route/tester_node.py	413	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/costmap_filters/tester_node.py	400	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/costmap_filters/tester_node.py	415	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/system/nav_to_pose_tester_node.py	133	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/system/nav_to_pose_tester_node.py	233	except Exception as e:	CODE
LOW	nav2_system_tests/src/system/nav_to_pose_tester_node.py	355	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/system/nav_to_pose_tester_node.py	370	except Exception as e: # noqa: B902	CODE
LOW	…stem_tests/src/system/nav_through_poses_tester_node.py	249	except Exception as e: # noqa: B902	CODE
LOW	…stem_tests/src/system/nav_through_poses_tester_node.py	264	except Exception as e: # noqa: B902	CODE
LOW	…/src/system/nav_through_poses_tester_error_msg_node.py	227	except Exception as e: # noqa: B902	CODE
LOW	…/src/system/nav_through_poses_tester_error_msg_node.py	242	except Exception as e: # noqa: B902	CODE
LOW	…m_tests/src/behaviors/drive_on_heading/drive_tester.py	64	except Exception as e: # noqa: B902	CODE
LOW	…m_tests/src/behaviors/drive_on_heading/drive_tester.py	80	except Exception as e: # noqa: B902	CODE
LOW	…m_tests/src/behaviors/drive_on_heading/drive_tester.py	99	except Exception as e: # noqa: B902	CODE
LOW	…m_tests/src/behaviors/drive_on_heading/drive_tester.py	117	except Exception as e: # noqa: B902	CODE
LOW	…m_tests/src/behaviors/drive_on_heading/drive_tester.py	134	except Exception as e: # noqa: B902	CODE
LOW	…m_tests/src/behaviors/drive_on_heading/drive_tester.py	152	except Exception as e: # noqa: B902	CODE
LOW	…m_tests/src/behaviors/drive_on_heading/drive_tester.py	316	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/spin/spin_tester.py	61	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/spin/spin_tester.py	77	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/spin/spin_tester.py	96	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/spin/spin_tester.py	114	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/spin/spin_tester.py	131	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/spin/spin_tester.py	149	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/spin/spin_tester.py	297	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/backup/backup_tester.py	63	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/backup/backup_tester.py	79	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/backup/backup_tester.py	98	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/backup/backup_tester.py	116	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/backup/backup_tester.py	133	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/backup/backup_tester.py	151	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/behaviors/backup/backup_tester.py	307	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/waypoint_follower/tester.py	106	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/waypoint_follower/tester.py	128	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/waypoint_follower/tester.py	173	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/waypoint_follower/tester.py	189	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/gps_navigation/tester.py	81	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/gps_navigation/tester.py	103	except Exception as e: # noqa: B902	CODE
LOW	nav2_system_tests/src/gps_navigation/tester.py	145	except Exception as e: # noqa: B902	CODE
LOW	nav2_common/nav2_common/launch/replace_string.py	73	except Exception as err: # noqa: B902	CODE
LOW	nav2_simple_commander/nav2_simple_commander/utils.py	47	except Exception as e:	CODE
LOW⚡	…lowing/opennav_following/test/test_following_server.py	156	except Exception:	CODE
LOW⚡	…lowing/opennav_following/test/test_following_server.py	166	except Exception:	CODE
LOW⚡	…lowing/opennav_following/test/test_following_server.py	170	except Exception:	CODE
LOW	nav2_route/graphs/scripts/export_shapefiles.py	26	except Exception:	CODE

Cross-File Repetition7 hits · 35 pts

Severity	File	Snippet	Context
HIGH	nav2_common/nav2_common/launch/rewritten_yaml.py	return a description of this substitution as a string.	STRING
HIGH	nav2_common/nav2_common/launch/replace_string.py	return a description of this substitution as a string.	STRING
HIGH	nav2_common/nav2_common/launch/has_node_params.py	return a description of this substitution as a string.	STRING
HIGH	nav2_bringup/launch/tb3_simulation_launch.py	this is all-in-one launch script intended for use by nav2 developers.	STRING
HIGH	nav2_bringup/launch/tb3_loopback_simulation_launch.py	this is all-in-one launch script intended for use by nav2 developers.	STRING
HIGH	nav2_bringup/launch/tb4_loopback_simulation_launch.py	this is all-in-one launch script intended for use by nav2 developers.	STRING
HIGH	nav2_bringup/launch/tb4_simulation_launch.py	this is all-in-one launch script intended for use by nav2 developers.	STRING

Synthetic Comment Markers4 hits · 28 pts

Severity	File	Line	Snippet	Context
HIGH	nav2_collision_monitor/src/polygon_source.cpp	124	/* Full function generated by GPT */	COMMENT
HIGH	nav2_simple_commander/test/test_costmap2d.py	22	# Tests generated by AI and checked by human	COMMENT
HIGH	nav2_simple_commander/test/test_occupancy_grid.py	22	# Tests generated by AI and checked by human	COMMENT
HIGH	.github/PULL_REQUEST_TEMPLATE.md	13	\| Was this PR description generated by AI software? \| Out of respect for maintainers, AI for human-to-human communicatio	CODE

Slop Phrases6 hits · 18 pts

Severity	File	Line	Snippet	Context
MEDIUM	…der/nav2_simple_commander/example_nav_through_poses.py	49	# If desired, you can change or load the map as well	COMMENT
MEDIUM	…der/nav2_simple_commander/example_waypoint_follower.py	49	# If desired, you can change or load the map as well	COMMENT
MEDIUM	…ple_commander/nav2_simple_commander/demo_inspection.py	70	# Simplification of angle handling for demonstration purposes	COMMENT
MEDIUM	…imple_commander/nav2_simple_commander/example_route.py	77	# If desired, you can change or load the map as well	COMMENT
MEDIUM	…commander/nav2_simple_commander/example_nav_to_pose.py	49	# If desired, you can change or load the map as well	COMMENT
MEDIUM	…simple_commander/nav2_simple_commander/demo_picking.py	75	# Simplification of angle handling for demonstration purposes	COMMENT

Deep Nesting16 hits · 16 pts

Severity	File	Line	Context
LOW	nav2_system_tests/src/system_failure/tester_node.py	128	CODE
LOW	nav2_system_tests/src/route/tester_node.py	171	CODE
LOW	nav2_system_tests/src/costmap_filters/tester_node.py	334	CODE
LOW	nav2_system_tests/src/system/nav_to_pose_tester_node.py	289	CODE
LOW	…2_smac_planner/lattice_primitives/lattice_generator.py	306	CODE
LOW	…2_smac_planner/lattice_primitives/lattice_generator.py	428	CODE
LOW	tools/bt2img.py	102	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	141	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	499	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	557	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	609	CODE
LOW	nav2_common/nav2_common/launch/replace_string.py	90	CODE
LOW	…imple_commander/nav2_simple_commander/demo_security.py	30	CODE
LOW	…ple_commander/nav2_simple_commander/robot_navigator.py	1003	CODE
LOW	…ple_commander/nav2_simple_commander/robot_navigator.py	1178	CODE
LOW	…imple_commander/nav2_simple_commander/line_iterator.py	98	CODE

Redundant / Tautological Comments8 hits · 12 pts

Severity	File	Line	Snippet	Context
LOW	nav2_system_tests/src/route/tester_node.py	282	# Check if the feedback is valid, if changed (not for route operations)	COMMENT
LOW	nav2_system_tests/src/system/nav_to_pose_tester_node.py	483	# Check if --expect_failure is True or False	COMMENT
LOW	…2_smac_planner/lattice_primitives/lattice_generator.py	363	# Check if path overlaps something in minimal	COMMENT
LOW	tools/bt2img.py	138	# Check if we already processed this file (prevent infinite loops)	COMMENT
LOW	tools/update_readme_table.py	104	# Check if package isn't in a given distribution	COMMENT
LOW	tools/planner_benchmarking/metrics.py	107	# Set map to use, other options: 100by100_15, 100by100_10	COMMENT
LOW	.devcontainer/post-create-command.sh	13	# Check if srv folder exists	COMMENT
LOW	…imple_commander/nav2_simple_commander/example_route.py	140	# Check if followPath or WPF task is done (or failed),	COMMENT

Modern Structural Boilerplate7 hits · 7 pts

Severity	File	Line	Snippet	Context
LOW	…anner/lattice_primitives/generate_motion_primitives.py	30	logger = logging.getLogger(__name__)	CODE
LOW	…mac_planner/lattice_primitives/trajectory_generator.py	22	logger = logging.getLogger(__name__)	CODE
LOW	tools/bt_nodes_validation/validate_bt_xml_nodes.py	141	def update_paths_for_external_repos(config: dict, clone_dir: Path) -> None:	CODE
LOW	nav2_msgs/msg/__init__.py	16	__all__ = [	CODE
LOW	nav2_msgs/action/__init__.py	20	__all__ = [	CODE
LOW	nav2_msgs/srv/__init__.py	15	__all__ = [	CODE
LOW	nav2_common/nav2_common/launch/__init__.py	20	__all__ = [	CODE

AI Slop Vocabulary2 hits · 6 pts

Severity	File	Line	Snippet	Context
MEDIUM	…2_smac_planner/lattice_primitives/lattice_generator.py	303	# we can leverage symmetry to create the complete minimal set	COMMENT
MEDIUM	…_route/src/plugins/edge_cost_functions/time_scorer.cpp	52	// We have a previous actual time to utilize for a refined estimate	COMMENT

Fake / Example Data2 hits · 2 pts

Severity	File	Line	Snippet	Context
LOW	nav2_waypoint_follower/test/test_task_executors.cpp	126	int fake_data = 0;	CODE
LOW	nav2_waypoint_follower/test/test_task_executors.cpp	128	msg->data.push_back(fake_data++);	CODE

Example Usage Blocks1 hit · 2 pts

Severity	File	Line	Snippet	Context
LOW	nav2_navfn_planner/src/navfn.cpp	55	// Example usage:	COMMENT

AI Structural Patterns1 hit · 1 pts

Severity	File	Line	Snippet	Context
LOW	tools/bt_nodes_validation/test/conftest.py	76		CODE

Analysis Overview

What These Metrics Mean

Score History

Severity Breakdown

Directory Score Breakdown

Pattern Findings