* Change publishers to publish unique ptrs

* Revert test case modification

* Update function signature to receive unique_ptrs

* Update publishers in nav2_costmap_2d to publish unique ptrs

* Update publishers in nav2_planner and nav2_map_server

* Change nav2_map_server publisher to publish occupancy grid unique ptr

* Change publisher in nav2_planner to publish path unique ptr

* Remove smart pointer return from functions in nav2_costmap_2d

* Run cpp_lint manually in nav2_costmap_2d

* Minor fixes

* Adhere to conventions of smart pointers passing to function

* Change publisher in dwb_core to publish unique pointer

Signed-off-by: Pablo Vega <epvega@gmail.com>

move odom sub thresholds to the controller server for no change in behavior but prior change in authority (#1528)

* Declare progress checker parameters

* Use declare_if_not_declared function

This should allow the node to be brought down and back up using
the lifecycle manager.

* TEMP remove all system tests from running to add back in one by one

* hottt patch, working simple action server again

* removing a few debugs

* adding debug

* fixed test actions file

* removing debug statements and removing opensplice and connext jobs

* reintroduce planner tests

* reintro localization tests

* reintroduce updown tests

* updating defaults

* allow controller to react to different controlller requests

* add params

* planners tests online

* add tests back in

* remove flaky multirobot test for CI but leaving here for utility

* adding back connext dds

* crusty

* refactor lots and lots of code...

* adding gtest mains

* disable planner tests

* Moving tuning to configuration.

* WIP writing up controller docs.

* DWB Parameter Structure Complete.

* Fixing review comments.

* Fix wording on progress checker.

Fixing build error introduced by #1356

* Handle action server deactivation while the action is still running.
* Handle race condition between completing an action and receiving a preemption.
* Terminate all goals if cancel was requested on any goal handle.
* Terminate only the current goal if the module fails to execute the action.

Added parallel recovery behaviors

* changing behavior tree to use snake_case actions

* correct action servers not related to recovery

* resolve recovery server plugin names with action server names

* changing references from local planner to controller outside of DWB

* change minimum in DWB planner to be controllers

* Update nav2_core/include/nav2_core/controller.hpp

Co-Authored-By: bpwilcox <bpwilcox@eng.ucsd.edu>

* cleanup all globally hardcoded remaps for multirobots

* fixing map path

* fix pep8 indent

* linter happy now?

* Fix linter errors

* reincluding /scan on scan

* multirobot launch with unique configurations

* multirobot tests using both configuration files

* make flake8 happy

* flake8 try2

* flakey9

* flake10

* attempt flake exception

* flake11

* flake12

* noqa on lin

* changing launch configuration in loop

fix lint

* Extending `rewritten_yaml` to also replace keys.

* Adding a node launcher that puts a condition to
applying the remappings.

* Add namespacing of launch files.

* Update namespace of costmap and passing of correct
namespace by planner & controller.

* Per review feedback, rename the nav2_controller to be nav2_lifecycle_manager

To avoid confusion with low-level controllers, be more explicit in the name.

* Avoid colliding node names; make navigation dialog's node name generic

* Add the lifecycle controller

* Generalize the nav2_controller code.

The only nav2-specifics are now the list of node names.

* Some reformatting

* Rename the Srv service to be more explicit; Add description to the package XML file

* Address more review feedback