to fix conner cases like this:

https://github.com/ros-planning/navigation2/runs/3277796714?check_suite_focus=true

https://stackoverflow.com/a/4709921

* Modify the BtServiceNode to include an on_success call.

* PR: Fix linter error by removing trailing whitespaces.

* PR: Rename on_success() to on_completion() to improve understandability.

* make tolerance dyn param

* full reconfigure

* fix typo

* Place function above the variables

* lock param callback

* reduce controller server nodes by setting SimpleActionServer's argument spin_thread true

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* remove duplicated action_server_.reste()

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

fix nav2 params and launch file to publish Local and global costmaps in multi robots example (#2471)

* adjust launch file with needed gazebo plugin and set groot to False for multi-robot params

* correct unwanted changes

* change port and set groot to false

* fix lints

Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com>

* improve SimpleActionServer

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

add a bool argument spin_thread whether use callback group/executor combo with dedicated thread to handle server

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* use Nodethread for executor

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* add constructor's arg options and member variable executor_

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* Put action name in node namespace instead of node name

* Put namespace remapping in node options

* Rename client node with action name replacing "/" by "_"

* Code formatting

* Code formatting

* fix smac2d cleanup

* same for hybrid

* Convert to python format strings for readability

* Merge concatenated strings

* Revert converting generated files

* Single quotes for consistency

* Just print the exception

* remove LifecycleServiceClient's constructor which create internal node

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* fix the linter

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com>

* remove bond_client_node_ in class LifecycleManager

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* clear unused variables

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* fix lint

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* use dedicated executor thread

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix building error

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* support to process executor for NodeThread

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* use  NodeThread for LifecycleManager

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

Co-authored-by: William Woodall <william@osrfoundation.org>

Add `costmap_thread_.reset()` on the destructor of ControllerServer class

* reduce MapSaver nodes by using callback group/executor combo

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* set use_rclcpp_node false

* a cleaner solution using a future and spin_until_future_complete()

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* Add dependabot config

* Workarround missing ARG support in dependabot
Parrent image can't yet be parameterized for version parsing
https://github.com/dependabot/dependabot-core/issues/2057

* Fix CCACHE_DIR to be absolute path
https://github.com/ros-planning/navigation2/pull/2403

* Remove FAIL_ON_BUILD_FAILURE ARG
now that CI image builds from rolling testing
and no longer ros2 nightly
so forcing image rebuilds is no longer needed

* Trigger rebuild on changes to Dockerfile

* Add github-actions to dependabot

* Refactor actions to rebuild CI image from CI

* Clean old dockerhub build hook

* Rename action

* Combine workflows to avoid dispaching
as that requires a github personal access token
which is an inconvenience to generate and add to repo secrets

* Add needs param to define job order

* Use job outputs for condition instead of env
Seems that env in context is not yet avalable at the job level
but only at the...

* Feature addition: capability for the RRP to drive the robot backwards

* findDirectionChange(): returns maximum double value + removing the size check for the indexer in for loop

* satisfying ament_uncrustify and ament_cpplint

* removing the unnecessary condition in the cusp determination

* Satisfying ament_uncrustify - 2

* Reduce node of waypoint_follower by using callback group and executor

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* fix linting failures

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* feat(navfn): improve coverage

* wip(navfn): add new test launch

* refactor(navfn): check expect_failure flag value

Boost features have been deprecated and removed
in pluginlib for rolling

* Add lazy_theta_star

* Added license

* Added license

* Update lazy_theta_star_b.cpp

* restructured files

- separated planner part and the algorithm
- implemented all the changes as suggested

* restructured files

* Update CMakeLists.txt

* removed unnecessary comments

* removed comments

* Delete planner.cpp

* Delete lazy_theta_star_b.cpp

* Delete lazy_theta_star_b.h

* Delete planner.h

* Delete CMakeLists.txt

* Delete global_planner_plugin.xml

* Delete package.xml

* replaced the files

- refactored code
- improved reliability
- have to write a code similar to that in nav2_system_tests, to test it (working on it)

* removed comments

* removed comments

* Update lazy_theta_star2.cpp

* update files

- replaced manual management of priority queue with stl priority queue
- added the parameter ".lethal_cost"
- removed unnecessary parameters passed to the functions

* update files

- updated the header files in ac...

* in observation.hpp fixed operator=

* style fix

* Include filter only by packge name
as using package source paths can exclude coverage from other packages
such as header files reported usign under workspace's install path

* formating

* Process gcno
Process both gcno and gcda coverage files.
This option is useful for capturing untested files in the coverage report.

* Validate sources
Check if every source file exists

* Dump statistic
Dump total statistic at the end

* Branch coverage
Include only the most useful branches in the coverage report.

* Fix install path

* Explicitly exclude packages
to ignore rviz package
but still explicitly include packages
as the include filter is what mostly speeds up processing

* Revert "Branch coverage"

This reverts commit 20f28949904ef965c8b5b011f3e387037adc93ce.

* Keep path fixes relative to workspace

As the working directory used for running code coverage report script 
is already at the root of the colcon workspace,
avoiding the use of unnecessary path globbing

Co-authored-by: Jonatan Olofsson <jonatan.olofsson@saabgroup.com>

* major smac planner collision checking speedups and improvements

* fix linting errors

* wireframe for state lattice node

* finishing boilerplate changes

* adding more context to each TODO and notes about path to completion

* prototype for the base plugin + refactor out common logic for all planners

* commiting speed up work in progress

* adding in improvements to overall user quality of life

* pushing updates to 2D for faster / smoother; hybrid for smoother and new heuristic function; a bit of rearchitecture; deprecating smoother to make room for a new one

* adding smoother prototype

* adding orientation guestimator

* correcing 2d

* done with smoother

* enabling collision checking full SE2 only when under inscribed cost according to current exponential decay function

* adding doxgyen on new function

* linting

* testing working

* fixing looping at end of paths + simplifying...