* Add console logging

* Fix node names so every node is uniquely identified in log

* Adding ros topic bt logger

* update BT nav + recovery for merge issues

* rename compute path -> compute path to pose

* renaming to follow literature

Co-authored-by: Carl Delsey <carl.r.delsey@intel.com>

added ros2-devel as dependency

renamed hpp and cpp files to current bt v3 naming conventions

* Making bt nodes separate libraries.

* Using params file to specify which plugins to use.

* Add plugin names to multi-robot params files.

everywhere rename ComputePathToPose to ComputePlan to be more general to allow for multiple planners

* Switch build files to new library

* Remove reference to non-existent header files

* Code compiles with bt_v3

* Fix compilation of nav2_bt_navigator package

* Fix semantic differences

* Clean up code

* Fix false positive linter error on use of non-std set.

* generic ros service caller BT node

* BT specialty service callers using BT node service

* rename to reinitialize global localization

* uncrustify/lint

* changes per PR requests

* remove topic based positioning for TF and removing extraneous build fields

* robot utils complete for getting positioning from TF

* readding the custom logger for getting current pose

* remove extra TODO

* fixing fun crustyness

* pass by ref not shared ptr

* wrapping costmap 2d's get pose with util

* revert costmap 2d plugin initialization swap

* fixing more uncrustified issues while I wait

* adding transform listener to buffers

* adding tf listeners and missing dependencies

* editing test cases

* trying no exception

* first stab at unit tests with TF2 for costmap 2D integration test

* adding the create timer interface

* adding updated pose info for testing

* com'n crusty code, why are you different in CI?

* fixing merge conflicts p2

* Reorganize some of the BehaviorTree-related code.

Eliminate the NavigateToPoseBehaviorTree class, merging it with the BehaviorTreeEngine.
Put clear_entirely service client with the others in nav2_util.
Move RecoveryNode to nav2_behavior_tree with the other BT nodes.

* Remove method signature that isn't implemented yet

* Add a missing dependency

* Address a couple linter issues

* Rename nav2_tasks

Now that ROS2 actions have been implementation and the temporary tasks implementation
is obsolete, all of the task-related code has been removed from the repo. What's
left in the nav2_tasks directory is Behavior Tree related code. So, this PR renames
nav2_tasks to nav2_behavior_tree. This new directory will contain any of our
domain-specific nodes and BT-related utility classes.

* Fix a couple more cpplint/uncrustify issues

* Fix a rebase error

Extended the SimpleActionServer interface and improved a few other things:
* Added additional checks to make sure we only keep the latest preempt request in the queue.
* Action server users no longer interact directly with the goal handles. 
* Provided additional functions for aborting, canceling, etc.
* Updated bt_navigator, motion_primitives, dwb_controller, navfn_planner to use the new interface.

Refactored the DWB controller main loop.
* Added checks for handling pending preemptions after the controller has succeeded or failed.

* Update nav2_util and nav2_tasks to support lifecycle nodes
* Add COLCON_IGNORE to those directories that don't build yet
* Should return the result of the service call rather than unconditionally returning true
* Update for ROS2 Actions
* Make some logging changes per review feedback

* Update to the latest version of the BehaviorTree.CPP library
* Point to the new branch of my BT library that only has the CMakeLists.txt update
* Remove registration of the parallel node now that it's done by the library itself; use the latest version of the library
* The BehaviorTree library has registered the parallel node as 'ParallelNode', not 'Parallel'
* Switch to the upstream repo now that the CMakeLists update has been integrated

* Initial work on running planning and control in parallel
* Checkpoint a working version with lots of debugging traces
* Remove debugging traces
* Remove the temporary hooks
* Address lint issues
* Remove some debug output
* Fix a compile problem after taking out some debug code
* Read the BT XML from an external file
* Re-enable DWB code
* Address reviewer feedback

* Move code that listens to rviz goal_pose message into the NavigateToPoseTask base class
* Fix merge issue and address lint issues
* Remove redundant #include

* Wire up the parameter passing in the BT navigator
* Don't change the node name yet; scrub them all later in the same PR
* Work in progress
* Export the nav2_tasks library so that the mission executor can pick it up
* Get rid of duplication in the Behavior Tree-related classes.
* Undo some code that was used for debugging (stubbed dwb)
* Restore file order to be consistent with the BT navigator
* Restore a line inadvertantly removed while using a stubbed debug version of dwb

* Enable behavior trees and work on cancel capability
* Checkpoint working cancel with traces
* ExecuteMission behavior tree working w/ cancel
* A little clean-up
* Address cpplint and uncrustify issues
* Parameterize the loop rate for the behavior tree classes
* Build a parallel behavior tree for the NavToPose task
* Update the BT Navigator behavior tree to compute a path first before starting the parallel nodes
* Resolve how to handle BTpp dependency; Closes: #51
* Rebase to origin/master
* Inital port to new, updated repo for the behavior tree library
* Can't use shared_from_this in constructor; fix several linter issues
* Start on dynamically creating the behavior tree from an XML description
* Move a few files after rebasing
* Don't have to explicity specify dl dependency
* Working on execute mission BT
* Adapt the BtActionNode class to enable it to by dynamically created
* Checkpoint working version
* Another checkpoint for...