* 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

* Add the rviz panel and action-based goal tool

* Remove the non-button stuff in the nav2_panel (it will go into rqt instead)

* Use setRPY and toMsg instead of computing x,y,z,w

* Address some review feedback

* Fix a typo

* Address one more item from the code review

* Update and sort the dependency list
* Rename nav2_controller -> nav2_lifecycle_manager per review feedback

* 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 the MissionExecutor for lifecycle nodes
* Adapt to naming changes in ROS2's goal_handle object
* Add the (unused) parameter names

* Enable BT Navigator for lifecycle nodes
* Address review feedback; adapt to latest ROS2 code; update to ROS2 actions

* Port the navfn global planner to lifecycle nodes
* Address review feedback; transition to ROS2 actions; update for latest ROS2 code

* Port the world model to lifecycle nodes
* Remove a couple stray printfs
* Address review feedback

* Port the map server to lifecycle nodes
* Address review feedback

* Lifecycle-enable the nav2_robot directory
* Enable SimpleNavigator now that it compiles

* Temporary lifecycle directory and first lifecycle class
* Update the lifecycle readme
* Address Matt's review feedback
* Make sure the base class has a virtual destructor so things get cleaned up properly

* Remove getting osrf key from Dockerfile

* added parallel planning to recovery tree

* make the parallel+recovery default

* remove simple navigator in factor of behavior tree

* removing things that depend on simple_navigator

* Fix line issue

* Removing unused variables.

* Pass a floating point value to log print instead of Duration object.

* Another unused variable.

* Removing incorrect use of std::move.

* Fixing inheritance problems.

* Negation needed to be outside of parens. Order of operation error

* diagnostic state was never pushed.

* Disable folding constant warning in eig3.c file. It's used all over.

* Refactor nav2_util CMake structure to allow disabling warnings on just one directory.

Last readmes

* Revert "Ignore Y oscillation on robots not capable of Y velocity."

This reverts commit e308a8a5.

* Remove non-configurable threshold from rotate to goal critic.

* Add configurable threshold where odom data comes in.

* Workaround for extreme velocity noise in TB3 simulation

* Adding new parameters to nav2_params file to increase their visibility

* Default to a release build if unspecified.

* Fixing whitespace error

* fixed CI failure for nav2_experimental_rl

* adding colcon ignore

This reverts commit 396048cf.

* added random crawl task to nav2 with reinforcement learning

* factored out dqn class and parameters

* modified readme files

* removed extra file

* added tol to laser append)

* addressing reviewer comments

* fixed spacing format

* added setup cfg file and updated readme

* throttling down while ture loop

* fixed shutdown issue to exit cleanly

* renamed package name and fixed get pkg directory

* fixed few typos

* added goal reached condition for replanning

* changed parallel xml description

* fixed replan tree and update path node status

* fixed linters and addressed comments

This reverts commit b73d659d.

* Add template classes for ROS2 action clients and servers
* Add .action files
* Add a ComputePathToPose action (missed on the first checkin)
* Remove the simple_action_client template (not useful after all) and update action test
* Address some review feedback
* Serialize access to the updated goal handle
* Use preempt terminology in simple_action_server template

* Adding a service to clear a costmap around the robot

* Addressed code review feedback.

* Adding a missing dependency line in the nav2_util CMakeLists.txt

This doesn't seem to affect GCC on Linux, but does cause a problem
for Clang on OS X.

* Motion model also depends on PF.