Iron Sync 3 - Sept 25 (ros-navigation#3837)

* Same orientation of coordinate frames in rviz ang gazebo (ros-navigation#3751)

* rviz view straight in default xy orientation

Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>

* gazebo orientation to match rviz

Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>

* rotating in direction of view

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Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>

* Fix flaky costmap filters tests: (ros-navigation#3754)

1. Set forward_prune_distance to 1.0 to robot not getting lost
2. Correct map name for costmap filter tests

* Update smac_planner_hybrid.cpp (ros-navigation#3760)

* Fix missing mutex in PlannerServer::isPathValid (ros-navigation#3756)

Signed-off-by: ymd-stella <world.applepie@gmail.com>

* Rename PushRosNamespace to PushROSNamespace (ros-navigation#3763)

* Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (ros-navigation#3572)

* Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace.
- It allows to apply namespace automatically on specific target topic path in costmap plugins.

Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example.
- nav2_multirobot_params_all.yaml

Modify nav2_common.ReplaceString
- add condition argument

* Update nav2_bringup/launch/bringup_launch.py

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

* Add new luanch script for multi-robot bringup

Rename luanch script for multi-robot simulation bringup

Add new nav2_common script
- Parse argument
- Parse multirobot pose

Update README.md

* Update README.md

Apply suggestions from code review

Fix pep257 erors

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

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

* use ros clock for wait (ros-navigation#3782)

* use ROS clock for wait

* fix backport issue

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Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* fixing external users of the BT action node template (ros-navigation#3792)

* fixing external users of the BT action node template

* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>

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Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>

* Fixing typo in compute path through poses error codes (ros-navigation#3799)

Signed-off-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com>
Co-authored-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com>

* Fixes for flaky WPF test (ros-navigation#3785)

* Fixes for flaky WPF test:
* New RewrittenYaml ability to add non-existing parameters
* Prune distance fix for WPF test
* Treat UNKNOWN status as error in WPF
* Clear error codes after BT run
* Remove unnecessary setInitialPose() from WPF test

* Update nav2_waypoint_follower/src/waypoint_follower.cpp

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

* Clean error code in any situation

* Fix UNKNOWN WPF status handling

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

* Fix `min_points` comparison check (ros-navigation#3795)

* Fix min_points checking

* Expose action server result timeout as a parameter in bt navigator servers (ros-navigation#3787)

* Expose action server default timeout in bt navigator servers

* typo

* duplicated comment

* Expose result timeout in other actions

* Proper timeout in bt node

* Change default timeouts and remove comments

* Remove comment in params file

* uncrustify controller server

* Using Simple Commander API for multi robot systems (ros-navigation#3803)

* support multirobot namespaces

* add docs

* adding copy all params primitive for BT navigator (to ingest into rclcpp) (ros-navigation#3804)

* adding copy all params primitive

* fix linting

* lint

* I swear to god, this better be the last linting issue

* allowing params to be declared from yaml

* Update bt_navigator.cpp

* Fix CD configuration link reference (ros-navigation#3811)

* Fix CD configuration page reference

* Add CM work on 6th ROS Developers Day reference

* some minor optimizations (ros-navigation#3821)

* fix broken behaviortree doc link (ros-navigation#3822)

Signed-off-by: Anton Kesy <antonkesy@gmail.com>

* [MPPI] complete minor optimaization with floating point calculations (ros-navigation#3827)

* floating point calculations

* Update optimizer_unit_tests.cpp

* Update critics_tests.cpp

* Update critics_tests.cpp

* 25% speed up of goal critic; 1% speed up from vy striding when not in use

* Add nav2_gps_waypoint_follower (ros-navigation#2814)

* Add nav2_gps_waypoint_follower

* use correct client node while calling it to spin

* changed after 1'st review

* apply requested changes

* nav2_util::ServiceClient instead of CallbackGroup

* another  iteration to adress issues

* update poses with function in the follower logic

* add deps of robot_localization: diagnostics

* fix typo in underlay.repo

* add deps of robot_localization: geographic_info

* minor clean-ups

* bond_core version has been updated

* rotation should also be considered in GPS WPFing

* use better namings related to gps wpf orientation

* handle cpplint errors

* tf_listener needs to be initialized

* apply requested changes

* apply requested changes 3.0/3.0

* fix misplaced ";"

* use run time param for gps transform timeout

* change timeout var name

* make use of stop_on_failure for GPS too

* passing emptywaypont vectors are seen as failure

* update warning for empty requests

* consider utm -> map yaw offset

* fix missed RCLCPP info

* reorrect action;s name

* waypoint stamps need to be updated

* Fix segmentation fault on waypoint follower

* Parametric frames and matrix multiplications

* Replace oriented navsatfix for geographic_msgs/geopose

* Remove deprecated oriented  navsatfix message

* Update branch name on robot_localization dependency

* Fix parametric frames logic

* Rename functions and adress comments

* fix style in underlay.repos

* remove duplicate word in underlay.repos

* update dependency version of ompl

* Template ServiceClient class to accept lifecycle node

* Remove link to stackoverflow answer

* Remove yaw offset compensation

* Fix API change

* Fix styling

* Minor docs fixes

* Fix style divergences

* Style fixes

* Style fixes v2

* Style fixes v3

* Remove unused variables and timestam overrides

* restore goal timestamp override

* WIP: Add follow gps waypoints test

* Style fixes and gazebo world inertia fix

* Reduce velocity smoother timeout

* empty commit to rerun tests

* Increment circle ci cache idx

* Remove extra space in cmakelists.txt

* Fix wrong usage of the global action server

* update follow gps waypoints action definition

* Fix action definition and looping

* update params for the unit testing

* WIP: update tests

* fix tests

* fixes to nav2 simple commander

* add robot_localization localizer

* Bring back from LL client

* Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py

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

* missing argument in test function

* small test error

* style fixes nav2 simple commander

* rename cartesian action server

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Co-authored-by: jediofgever <fetulahatas1@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* bumping iron from 1.2.2 to 1.2.3 for release

* Update waypoint_follower.cpp

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Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>
Signed-off-by: ymd-stella <world.applepie@gmail.com>
Signed-off-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com>
Signed-off-by: Anton Kesy <antonkesy@gmail.com>
Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>
Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>
Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>
Co-authored-by: Tony Najjar <tony.najjar@logivations.com>
Co-authored-by: Hyunseok <yanghyunseok@me.com>
Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Anna Mannucci <19239559+annamannucci@users.noreply.github.com>
Co-authored-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com>
Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
Co-authored-by: Anton Kesy <antonkesy@gmail.com>
Co-authored-by: jediofgever <fetulahatas1@gmail.com>
Signed-off-by: MarcM0 <marc.morcos9@gmail.com>