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Nav2 toolkit

@pranavk-2003, your PR has failed to build. Please check CI outputs and resolve issues. You may need to rebase or pull in `main` due to API changes (or your contribution...

fix: compaction task data race

@tedxu Please associate the related issue to the body of your Pull Request. (eg. “issue: #”)

fix: compaction task data race

@tedxu E2e jenkins job failed, comment `/run-cpu-e2e` can trigger the job again.

fix: compaction task data race

@tedxu E2e jenkins job failed, comment `/run-cpu-e2e` can trigger the job again.

fix: compaction task data race

@tedxu E2e jenkins job failed, comment `/run-cpu-e2e` can trigger the job again.

fix: compaction task data race

@tedxu go-sdk check failed, comment `rerun go-sdk` can trigger the job again.

fix: compaction task data race

@tedxu E2e jenkins job failed, comment `/run-cpu-e2e` can trigger the job again.

fix: compaction task data race

@tedxu E2e jenkins job failed, comment `/run-cpu-e2e` can trigger the job again.

fix: compaction task data race

@tedxu E2e jenkins job failed, comment `/run-cpu-e2e` can trigger the job again.

enhance: try compact small segments first if they may compose a full segment

@tedxu Thanks for your contribution. Please submit with DCO, see the contributing guide https://github.com/milvus-io/milvus/blob/master/CONTRIBUTING.md#developer-certificate-of-origin-dco.