* converted PointCloud -> PointCloud2 adn checked linting. WIP

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* modified base_obstacke_test

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* Changed to PointCloudModifier WIP

* formating fix

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* formating fix2

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* added tests for clearing_endpoints

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* removing print statements

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* added subscribers for voxel marked and cost_cloud

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* modified test cases to use single wait for all pointcloud2 subscribers

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* removed unnecessary comments and publish_cost_grid_pc from yaml file

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* Fix ament_flake issues

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* RCLCPP_INFO to RCLCPP_DEBUG

* same for bt_service_node

To again have a third RMW to triage CI failures

* remove service_node from nav2_lifecycle_manager

* wait_for_service() returns the value of service_is_ready()

* explain wait_for_service return

* use timer to trigger init()

* init() as lambda function

* wait_for_service as void

* fix gtest

* Switch ccache away from ramdisk to tmp

to reduce CI RAM usage during builds

* Use ccache environment variables

for CCACHE_DIR and CCACHE_LOGFILE

* Add defaults file for colcon

https://colcon.readthedocs.io/en/released/user/configuration.html#defaults-yaml

https://colcon.readthedocs.io/en/released/reference/executor-arguments.html#executor-arguments

* Enable colcon defaults.yml config

* Unset MAKEFLAGS

* Break the build cache for testing

* Fix env

* Reset MAKEFLAGS

* Use env for copy

* Increase limits

* break build cache for testing

* consolidate colcon build args into config

* cleanup

* Update mixin comment

* Prune repos file
image_common already included in ros2.repo and thus osrf/ros2:nightly

* Set limts as if there where 2 CPUs
prior config rencountered load deadlock
and colcon doesn't seem to count the correct number of cores in CI

* Remove load average
to avoid any deadlock

* Bust CI cache for testing

* Increase make job limit

* Bust CI cache for testing

* Revert failed changes

* Revert use of env as path arg
as it's incrocly interpreted as
/opt/overlay_ws/$CCACHE_DIR

* Move colcon defaults file

* Re-enable load average limit

Builds without warm ccache caches can still fail
like when building ompl and gazebo_ros simultaneously

* planner selector proposal

* PR review changes: https://github.com/ros-planning/navigation2/pull/2249

* minor, inline function in cpp file

* Third PR for planner selector: default input_topic, additional test and main class doxygen brief

* some more documentation on planner_selector

* adding planner selector to nav_tree_nodes.xml

* method namming convention in planner_selector

* Fix for inflation artifacts behind update bounds
appearing when some layer is going after inflation_layer

* Fix failing tests

* dyn params plugin

* lint recommandation

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

* adding goal checker to the API for controllers and the controller server

* updating DWB and RPP to include the new controller API change to include the goal checker pointer

* adding getTolerances functions for goal checkers with unset default method

* use getTolerances for goal checkers in RPP

* adding missing headers to goal stoppers

* fix linting of RPP

* add parameter_event_sub

* recompute xy_goal_tolerance_sq_ after param change

* Fix SingleTrigger BT node

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

* Add explicit failure case

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

* Fix uncrustify error

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

* Forse ROS2 parameters to be static to meet RCLCPP API changes

* Fix comments

* Move all common CostmapFilter parameter declarations into try-catch block

* Fix #2186

* goal_pose instead of goal->goal

* avoid redundant code

* change name and switch to input + output param pattern

* code style

* change timeout default value

* create and use callback group

* remove generate_internal_node option

* unit test to do a service call in a topic callback

* fix unit test

* set default value to -1

* working on canceling state machine for waypoint mode

* fixing cancelation logic

* fix linting isue

Ability to get a path from the planner from any 2 poses (start_pose and goal): add use_start_pose and start_pose to ComputePathToPose action (#2179)

* add use_start_pose to ComputePathToPose.action

* add use_start_pose to ComputePathToPose bt

* start instead of start_pose + else if

* [ComputePathToPose Action API break] change 'pose' for 'goal' +use_start

* test wip

* add compute path to pose BT test for use_start

* last start_pose renaming

* Transform start and goal in costmap frame

* Revert "Transform start and goal in costmap frame"

This reverts commit 4ed8eb0aca6840d57768823a20406b7287dad837.

* lint

* costmap bt

* bt double type

* change bt actions name to be consistent with service names

* add tests

* code style

* readme update

* improve readme

* If provided param file has no slam_toolbox params, don't forward it

* Update copyright

* Linter fixes

* Reorder slam_launch to hide uglyness at the end

* fixing depricated API

* converting types on substitutions

* removing warnings from std buffer parameterization

Signed-off-by: Marco Lampacrescia <Marco.Lampacrescia@de.bosch.com>

* Remove dependency on collision checking to carrot location

* Fix i removal

* changing API to be consistent with collision updates

* Add support of absolute limits to Speed Filter

* Fix review items

* Fix comment

* Support for nav2_regulated_pure_pursuit_controller