Improve interface of NavigateToPose

[ymd-stella]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(related to #1796)

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Description of contribution in a few bullet points

• NavigateToPose input has been changed from (Position, Orientation) to Goal to make the goal easier to handle.

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Future work that may be required in bullet points

[codecov]

Codecov Report

Merging #1880 into master will decrease coverage by 0.79%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master    #1880      +/-   ##
==========================================
- Coverage   69.54%   68.74%   -0.80%     
==========================================
  Files         218      218              
  Lines       10595    10603       +8     
==========================================
- Hits         7368     7289      -79     
- Misses       3227     3314      +87     

Impacted Files	Coverage Δ
...tree/include/nav2_behavior_tree/bt_conversions.hpp	100.00% <100.00%> (ø)
...or_tree/plugins/action/navigate_to_pose_action.hpp	100.00% <100.00%> (ø)
...or_tree/plugins/action/navigate_to_pose_action.cpp	58.33% <100.00%> (-10.42%)	⬇️
...re/include/dwb_core/illegal_trajectory_tracker.hpp	40.00% <0.00%> (-60.00%)	⬇️
...roller/dwb_core/src/illegal_trajectory_tracker.cpp	25.00% <0.00%> (-55.00%)	⬇️
...ree/include/nav2_behavior_tree/bt_service_node.hpp	86.84% <0.00%> (-13.16%)	⬇️
...tree/include/nav2_behavior_tree/bt_action_node.hpp	79.26% <0.00%> (-12.20%)	⬇️
...map_2d/include/nav2_costmap_2d/inflation_layer.hpp	91.66% <0.00%> (-8.34%)	⬇️
nav2_costmap_2d/src/clear_costmap_service.cpp	17.89% <0.00%> (-6.32%)	⬇️
..._dwb_controller/dwb_core/src/dwb_local_planner.cpp	77.32% <0.00%> (-4.97%)	⬇️
... and 7 more

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[SteveMacenski]

@mkhansenbot any reason not to do this?

[SteveMacenski]

@crdelsey @cdelsey can you review this?

[naiveHobo]

I think this change should also be accompanied with a BT conversion function to parse BT XML strings to a geometry_msgs/PoseStamped message like it's done here.

[SteveMacenski]

@naiveHobo you approve?

@ymd-stella LGTM, but you need to fix a linting error in the bt conversions file. Run ament_cpplint and ament_uncrustify before submitting any PR.

[SteveMacenski]

Waiting on CI

[mkhansenbot]

Looks good to me, thanks for looping me in and sorry for the late response

[ymd-stella]

@SteveMacenski What is the status of this PR? Is there any task left for me to do?

[SteveMacenski]

None, just forgot to mark as "merge" because waiting for CI, thanks for the push