Bring most galactic changes to humble

[tonynajjar]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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

[tonynajjar]

This PR still needs some work. These are the main features missing:

• dock action
• backup action changes
• respawn after bond connection goes down

@andriimaistruk if you have time to support here I won't say no. I can onboard you.

FYI @jplapp

[tonynajjar]

To avoid double work, I propose to not add the docking and back_up actions to Nav2 because anyway we want to implement these in our own repo. Here are the tickets for them:

https://lvserv01.logivations.com/browse/AMRFM-1988 (needs description modificatiion)
https://lvserv01.logivations.com/browse/AMRFM-3439

[tonynajjar]

Btw please notice that this repo is a github fork and not our private navigation repo. FYI @andriimaistruk, @jplapp and I discussed to keep a public fork for Nav2 to make collaboration easier. Any code we wish to keep private will be implemented as a plugin in our private packages

[jplapp]

regarding DriveOnHeading - to keep the scope of the task, let's move the backup changes to humble. Then we can migrate the BTs to DriveOnHeading, plus modify driveOnHeading in a separate step.

Regarding the dock behavior, yes, let's add that to a new amr_behaviors package

[tonynajjar]

TODO: https://github.com/logivations/navigation/pull/427 and https://github.com/logivations/navigation/pull/424/files

[tonynajjar]

@jplapp @andriimaistruk could you quickly review this? I'm pretty sure we will discover more things during testing but I want to merge this to be able to use the "humble" branch in the other PRs

[jplapp]

lgtm

[jplapp]

I think https://github.com/logivations/navigation/pull/424/files is supported in humble already, no need to add