* added addNewScanner method

* added shouldUpdateFilter and reorg ph_init

* added updateFilter method

* added publishParticleCloud

* added getMaxWeightHyp

* added publishAmclPose and calculateMaptoOdomTransform

* added sendMapToOdomTransform

* re-org the locations of laserReceived helper funcs

* fixed uncrustify

* add latest changes

* adding back in nan check before publishing pose

* fix uncrustify

* Set atomic_bool on StaticLayer::has_updated_data_

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>

* Set a critical section on StaticLayer

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>

* Protect the updateCosts method and enabled_ and has_updated_data_ variables.

* Disable failing dyanmic params and motion primitives tests.

* Fix a copy/paste error

This reverts commit 1a8e823c.

* enable obstacle layers

* We need to re-enable the in_window flag once we get close.

* Ignore y velocity in RotateToGoal critic if differential drive robot.

* Scores need to be positive.

* Fixing linter issue

* Revert "Ignore y velocity in RotateToGoal critic if differential drive robot."

This reverts commit 3fef45d335d4dd9c196331d5aaf931a0cb204f48.

* Make closer goals to robot so it is more inclined to follow the path

* Add some comments

* Fix linter issues.

* Various DWB param tweaks.

* Easing off final positioning parameter

* Increase obstacle avoidance strength

* Removing a parameter that doesn't need so much tweaking.

* Push final pose on trajectory instead of initial pose.

* We need start pose and end pose for trajectory visualization

Also making the same fix in the limited accel generator.

* Fix unit tests

* addressing #591

* Enabling planner tester

* Removed placeholder code for yaml

* Fixed typo

* Disabling test

* Test stubs

* Defining the tests

* Fixed build error

* Fixing test issues

* Renaming task server start and stop

* Creating separate build file for tests

* Addressing feedback

Use the new Coroutine-based BTActionNode base class as that is recommended for ROS Action-like tasks (#492)

* Moving service_client.hpp to nav2_util

The ServiceClient class will be used Lifecycle helper functions that
will be put in nav2_util, so we need it there. It seemed more of utility
class than a Task anyhow.

* Add internal node helper functions.

Add some helper functions for generating node names. These will be used
to fix some potential problems with the ServiceClient and the upcoming
LifecycleServiceClient.

* Add node name filter to ServiceClient.

ServiceClient reuses the service name as the temporary node name.
However, service names frequently have / characters in them and
that is invalid for a node name. Also, it seems likely we'll have
multiple clients using the same service. This would result in a name
collision. This now adds a random suffix to the internal node name.

* Allow ServiceClient to use a passed in node.

ServiceClient can now use a supplied node instead of always creating
it's own. This allows us to create a higher level service client that
interacts with multiple services using just one generated node.

* Add a Lifecycle Service Client.

The unit tests will be handled at a higher level by a subsequent checkin

* Clean up and rename existing string utils module

I need to add another function to it, and it could stand some
restructuring before hand.

* Adding a split function

Adding a function to split a string at delimiters. The intent is to
use this later so tests can get ':' seperated string of lifecycle nodes
from and environment variable, and spin them all up.

* Add helper functions to facilitate bringup lifecycle nodes

* Add simple lifecycle bringup utility.

* Turn helper node into a lifecycle node.

* Add timeouts and retries to service calls.

Service calls still hang for some unknown reason. The only known
fix is to time it out and retry.

* Fixing coding standard violations in nav2_util library.

* Renaming one more function to comply with style guide.

Adding a service definition for clearing the entire costmap.

* Adding documentation to the motion primitives.

Modifications to isStuckCondition node

* Fixing memory leak within costmap2d inflation layer.

* Enable A* and Bt navigator as default.

Also add an A* system test.

* Better way of checking astar bool value

* Revert "Enable A* and Bt navigator as default."

This partially reverts commit 1e06e56d2452b7c9dce51267fec769095ce73d93.

The addition to the system test is left in place, just the change to
the user scripts is removed.

* Add some comments explaining the system test configuration choices

* Workaround for sliding sideways bug

* Adding comments to yaml file.

* Use the new onInit method that's now provided by the BT library; can get rid of our own version

* Enable NavigateToPose as well with onInit