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

* nav2_controller short documentation

* Added nav2_core short documentation

* minor correction indicating action server

* cleanup

Shivang Patel authored 5 years ago and Steven Macenski committed 5 years ago

* Add doxygen doc to nav2_controller

- Add doxygen doc to nav2_controller.hpp
- Add doxygen doc to progress_checker.hpp

* Address PR feedback

* Fix typo

- Refactored isGoalReached method doc
- Removed "flag" from reset method doc

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

* 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 working version
* Clean up
* Enable the BtNavigator with the new behavior tree library
* Start hooking up params
* Adapt to new Behavior Tree library
* Pass position and orientation when using pose via rviz
* Missed a new file
* Re-enable getting pose from robot; was commented out for debugging
* Revert one of my changes for the BehaviorTree.CPP library now that it is fixed
* Back out the workaround for visibility warning now that it is fixed in the upstream library
* Rebase and cpplint/uncrustify
* Get rid of hardcoded starting position in compute_path_to_pose_action and address some linter issues
* Make the intent clearer for a couple variables names
* Fix a couple inconsistencies with the last checkin

The transform buffer lifetime is part of the dwb controller. It
can't be managed by shared_ptr.

The limited acceleration controller derives from the standard
controller. By switching to the standard controller, we can
eliminate a bit of complexity while debugging.

Some of the packages used http://download.ros.org/schema/package_format2.xsd
that requires package format to be set to `2`, but package format was
set to 3 instead.

This change makes them consistent.  As a result linter for packages
won't compain on this error.  Version 3 picked up because it is superset of
version 2 with addition of optional fields.

* human readable and more meaningful info/debug logs
* change paths to include full representations
* cleanup
* resolve crdelsey's grammar concern
* oops missed a tag
* shutdown infos

* Documentation on local planner changes for ROS 2.

* Adding more detail on local planner operatiion in the new model.

* Addressing feedback.

* Fixing issue links