cherry-picking mjeronimo:fix_bt_crash_after_reset

[Jconn]

This is #1322 targeting head of master.

Like that ticket says,

Rather than trying to re-use the behavior tree, create the behavior tree each time NavigateToPose is called. This avoids some problems in the BT library when using CoroActionNodes (coroutines).

should fix
#1285
and
#1439

Recreation of the tree is taking 200-300ms in my test environment. This delay directly adds to the time it takes the nav stack to receive to a NavigateToPose request.

Future work can be done to reduce this time.

Tested with rviz start/stop commands in simulation and a script with some start/stop commands.

[codecov]

Codecov Report

Merging #1515 into master will increase coverage by 0.01%.
The diff coverage is 0%.

@@            Coverage Diff             @@
##           master    #1515      +/-   ##
==========================================
+ Coverage   37.53%   37.54%   +0.01%     
==========================================
  Files         226      226              
  Lines       11774    11762      -12     
  Branches     5084     5080       -4     
==========================================
- Hits         4419     4416       -3     
+ Misses       3981     3977       -4     
+ Partials     3374     3369       -5

Flag	Coverage Δ
#project	37.54% <0%> (+0.01%)	⬆️

Impacted Files	Coverage Δ
...nclude/nav2_behavior_tree/behavior_tree_engine.hpp	100% <ø> (+83.33%)	⬆️
nav2_behavior_tree/src/behavior_tree_engine.cpp	26.31% <ø> (ø)	⬆️
nav2_bt_navigator/src/bt_navigator.cpp	32.5% <0%> (-1.36%)	⬇️
nav2_util/src/robot_utils.cpp	10% <0%> (-10%)	⬇️
...ontroller/dwb_plugins/src/kinematic_parameters.cpp	14.43% <0%> (-4.13%)	⬇️
nav2_costmap_2d/src/collision_checker.cpp	50% <0%> (-4.06%)	⬇️
nav2_navfn_planner/src/navfn.cpp	45.68% <0%> (-0.22%)	⬇️
nav2_controller/src/nav2_controller.cpp	27.86% <0%> (ø)	⬆️
nav2_map_server/src/map_server.cpp	42.85% <0%> (ø)	⬆️
nav2_amcl/src/amcl_node.cpp	38.84% <0%> (+0.78%)	⬆️
... and 2 more

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[SteveMacenski]

Can you file a ticket before we merge this on the navigation time to process?

[Jconn]

added a ticket for reducing time it takes to process request

[SteveMacenski]

Awesome, I really appreciate the help. I wouldn't have been able to get to this for awhile. Plus removes 2 critical tagged issues.