Publish optimal trajectory as a Path message

[alyquantillion]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	None
Primary OS tested on	Ubuntu
Robotic platform tested on	Gazebo simulation of a custom robot
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• I publish the optimal trajectory as a nav_msgs::msg::Path message. Needed if we want to calculate the velocity commands ourselves.

Description of documentation updates required from your changes

None

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Future work that may be required in bullet points

None

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

This also requires test coverage

[mergify]

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[mergify]

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

LGTM, though its not compiling (that needs to be fixed, obviously!). One more change for making it consistent with the existing code and then we're good to go

[mergify]

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

@alyquantillion please rebase or pull in main so that CI turns over. There was an API update in an upstream library that needs to be propagated here to build

[mergify]

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Files	Coverage Δ
...roller/include/nav2_mppi_controller/controller.hpp	100.00% <ø> (ø)
...v2_mppi_controller/tools/trajectory_visualizer.hpp	100.00% <ø> (ø)
nav2_mppi_controller/src/controller.cpp	100.00% <100.00%> (ø)
nav2_mppi_controller/src/trajectory_visualizer.cpp	100.00% <100.00%> (ø)

... and 1 file with indirect coverage changes

[SteveMacenski]

Thanks for iterating, looks perfect to me!