A BT port is introduced in case the user wants to change the default action_name
of BtActionNode.

- `BtServiceNode::check_future()` was created, to encapsulate the logic
where a the output of the BtServiceNode is computed.
- Inherited classes can overload this function according to the requirement
of the user

* Proposed refactoring to avoid issues with CoroAction

* correctly haltAllActions (related to #1600)

* not really needed and will be deprecated soon

* Applying changes suggested in the comments of #1606

- fix haltAllActions
- changes method signature on_success()
- reverts the changes made here:
https://github.com/ros-planning/navigation2/pull/1515/files

* fix warnings and errors

* make uncrustify happy?

* Update bt_navigator.cpp

* Update bt_navigator.cpp

* uncrustify fix

Co-authored-by: daf@blue-ocean-robotics.com <Davide Faconti>

* corrected wrong indexing in NavfnPlanner::smoothApproachToGoal function

* resolved uncrustify errors

* corrected the condition inside NavfnPlanner::smoothApproachToGoal to replace last pose of computed path

Co-authored-by: chikmagalore.thilak <chikmagalore.thilak@bshg.com>

* Corrected check to detect collision (#1404)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Changed collision check to detect only lethal and unknown cells (#1404)(#1603)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

the removed code has no effect at all: the status of a node will be its returned value!.

In general, you never set your status to IDLE, unless halted.

* Add eloquent option to build script and made it default

* Add eloquent in the error message

* Remove dashing

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* fixing BT node action processors

* fix crusty code

* remove server timeout

* Included widget to rviz plugins for displaying status of lifecycle managers (#1479)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Updated state machine and InitalThread (#1479)

Changed InitialThread to check the status of each lifecycle manager periodically. Modified state machine to support updating the state of the lifecycle managers.

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Revert "Updated state machine and InitalThread (#1479)"

This reverts commit 3ef5ae4206e24013b3f3c611438b00421ff08d57.

* Revert "Included widget to rviz plugins for displaying status of lifecycle managers (#1479)"

This reverts commit 7befdb3ffd7365faf17120a39caf87a362411a27.

* Added QLabels showing state of lifecycle managers after initialization (#1479)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Corrected typo (#1479)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Corrected style issues (#1479).

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

It made segfault when running map_saver using option param without value.
When there are wrong args, terminate the process.

Signed-off-by: Koeun Choi <gony0206@gmail.com>

* adding logging for nightly tests

* adding destroy call to action client

* reenable planner test

* try simtime

* adding sim_time in executable line

* try adding a rest

moving xy_goal_tolerance and trans_stopped_velocity param names out of rotatetogoal namespace (#1575)

* fixing website hyperlink for brian wilcox

* BT condition node to check for a valid TF transformation

* fix linter issues

* fix typo

* covering A* case in code coverage

* add a couple tests to see if that improves coverage

* added more videos on roscon talks to the tutorials, similar to creating a costmap layer.

* formatting.

* grammar fixes.

* Some minimal changes from locusrobotics/robot_navigation

- Add publisher checks to publisher.cpp
- Method name change from addGridScore to addCriticVisualization

* Add test for trajectory_utils

- Fix namespace for trajectory_utils

* Address reviewer's comments

* Change if statments

* Minor fixes

* adding webpage for known plugins

* adding navigation plugins to readme

FootprintSubscriber constructor is using a Duration constructor that
expects two integers for seconds and nanoseconds, but the
footprint_timeout argument type is double, suggesting it should be
floating point seconds. This uses `Duration::from_seconds()` to the
timeout being rounded down to the next integer.

Signed-off-by: Shane Loretz <sloretz@openrobotics.org>

* add robot_base_frame parameter to planner_server and parameter yaml files

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* bugfix

* Revert "bugfix"

This reverts commit 579757c4225d42ead02b51374ef31df7290df954.

* Revert "add robot_base_frame parameter to planner_server and parameter yaml files"

This reverts commit 620159f908785e7918913394131b6aea2d807eba.

* get robot pose from costmap

* adding gradient layer costmap2d plugin tutorial

Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>

* Update sphinx_doc/tutorials/docs/writing_new_costmap2d_plugin.rst

Co-Authored-By: Steve Macenski <stevenmacenski@gmail.com>

* Update sphinx_doc/tutorials/docs/writing_new_costmap2d_plugin.rst

Co-Authored-By: Steve Macenski <stevenmacenski@gmail.com>

* Update sphinx_doc/tutorials/docs/writing_new_costmap2d_plugin.rst

Co-Authored-By: Steve Macenski <stevenmacenski@gmail.com>

* Update sphinx_doc/tutorials/docs/writing_new_costmap2d_plugin.rst

Co-Authored-By: Steve Macenski <stevenmacenski@gmail.com>

* Update sphinx_doc/tutorials/docs/writing_new_costmap2d_plugin.rst

Co-Authored-By: Steve Macenski <stevenmacenski@gmail.com>

* Update sphinx_doc/tutorials/docs/writing_new_costmap2d_plugin.rst

Co-Authored-By: Steve Macenski <stevenmacenski@gmail.com>

* Update sphinx_doc/tutorials/docs/writing_new_costmap2d_plugin.rst

Co-Authored-By: Steve Macenski <stevenmacenski@gmail.com>

* Update sphinx_doc/tutorials/docs/writing_new_costmap2d_plugin.rst

Co-Authored-By: Steve Macenski <stevenmacenski@gmail.com>

* Update sphinx_doc/tutorials/docs/writing_new_costmap2d_plugin.rst

Co-Authored-By: Steve Macenski <stevenmacenski@gmail.com>

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* fixing website hyperlink for brian wilcox

* incremental updates to website

* adding new robot picture

* fixing website hyperlink for brian wilcox

* throttling down TF on bringup

* fixing website hyperlink for brian wilcox

* deal with merge conflicts

* add different headings

* fixing website hyperlink for brian wilcox

* simplify build instructions and fix getting started image figures

* fixing website hyperlink for brian wilcox

* fix extended over line on slam page

* fixing website hyperlink for brian wilcox

* increasing the sidebar by 20 pixels for longer titles on website