* Add utility function to get plugin type param and refactor controller params

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Exit when plugin param is not provided

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Minor fix

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Remove defaults

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix uncrustify error

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Default to DWB

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Add tests

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Refactor planner server plugin param

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Refactor recovery server plugin param

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Refactor costmap plugin param

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update bringup parmas

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update parameter list in docs

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Rename plugins parameter

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update parameter list and fix defaults in costmap node

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Declare default .plugin params only when plugin name parameter is default

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update parameter list

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update nav2_recoveries/src/recovery_server.cpp

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

* Update params.md

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix uncrustify errors

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

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

* adding navigate to pose feedback and remove random crawl from master

* adding controller feedback

* recovery feedback actions

* Update nav2_controller/src/nav2_controller.cpp

Co-Authored-By: Carl Delsey <1828778+cdelsey@users.noreply.github.com>

* Add feedback in wait action and make general improvements

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix rebase errors

* Make feedback reset across different goals

Co-authored-by: stevemacenski <stevenmacenski@gmail.com>
Co-authored-by: Carl Delsey <1828778+cdelsey@users.noreply.github.com>

* Windows bringup.

* nullity check.

* nullity check.

* 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

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

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.

* Add back parameter to configure DWA rate

* Report out if we missed our control loop time.

serverIsActive to is_server_active