Feedback in navigation2 actions

[SteveMacenski]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#1339
Primary OS tested on	Ubuntu
Robotic platform tested on	Gazebo

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Description of contribution in a few bullet points

• Added feedback to long running actions.

• removed random crawl as it is still in nav2 experimental with the server

• NavigateToPose; pose, time spent on task, number of recoveries executed, distance remaining

• Follow path: Instantaneous speed, distance to goal in odom

• Spin and backup: distance so far gone

• Wait and compute path: none, as either has a while loop naturally conducive to feedback.

Description of documentation updates required from your changes

• TODO add to migration guide for Foxy

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Future work that may be required in bullet points

• TODO test each metric is properly computed and reset between runs.

This PR is also to gather reviews and feedback on other metrics you'd like to have included in the API.

[cdelsey]

This looks good. Thanks for doing this Steve.

[codecov]

Codecov Report

Merging #1586 into master will increase coverage by 0.3%.
The diff coverage is 23.43%.

@@            Coverage Diff            @@
##           master    #1586     +/-   ##
=========================================
+ Coverage   38.21%   38.51%   +0.3%     
=========================================
  Files         229      228      -1     
  Lines       11924    11976     +52     
  Branches     5240     5276     +36     
=========================================
+ Hits         4557     4613     +56     
+ Misses       3883     3836     -47     
- Partials     3484     3527     +43

Flag	Coverage Δ
#project	38.51% <23.43%> (+0.3%)	⬆️

Impacted Files	Coverage Δ
...roller/include/nav2_controller/nav2_controller.hpp	100% <ø> (ø)	⬆️
...ree/include/nav2_behavior_tree/bt_service_node.hpp	18.75% <0%> (ø)	⬆️
nav2_behavior_tree/plugins/action/wait_action.cpp	35% <0%> (-11.67%)	⬇️
...ehavior_tree/plugins/action/follow_path_action.cpp	40% <0%> (ø)	⬆️
nav2_behavior_tree/plugins/action/spin_action.cpp	41.17% <0%> (-17.16%)	⬇️
nav2_recoveries/plugins/spin.cpp	8.69% <0%> (-0.4%)	⬇️
...v2_behavior_tree/plugins/action/back_up_action.cpp	8.33% <0%> (-2.2%)	⬇️
...vior_tree/plugins/action/clear_costmap_service.cpp	40% <0%> (-40%)	⬇️
nav2_recoveries/plugins/back_up.cpp	6.89% <0%> (-0.38%)	⬇️
nav2_bt_navigator/src/bt_navigator.cpp	32.21% <34.48%> (-0.02%)	⬇️
... and 11 more

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