Added IsGoalNearby BT node

[Jakubach]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	this is a refresh of pr (#4620)
Primary OS tested on	(Ubuntu)
Robotic platform tested on	(Gazebo simulation of custom robot)
Does this PR contain AI generated software?	(Yes, tests was generated with LLM)

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Description of contribution in a few bullet points

BT Node that return if the robot is in the goal proximity
PR related to the Steve advice on robotics stack:
https://robotics.stackexchange.com/questions/112576/maneuvers-on-paths-end-point-with-navigation2-smac-lattice-planner/112577?noredirect=1#comment48615_112577

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 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

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...ree/plugins/condition/is_goal_nearby_condition.hpp	100.00% <100.00%> (ø)
...ree/plugins/condition/is_goal_nearby_condition.cpp	100.00% <100.00%> (ø)

... and 3 files with indirect coverage changes

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• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[Jakubach]

@SteveMacenski as promised, pinging now that the PR is ready for review.

[SteveMacenski]

Good first go! Most of my comments are just asking for logging. Since we return FALSE, it would be good to clarify if "false" means it is far away or if there was an error they should be aware of to look into possibly.

[Jakubach]

Good first go! Most of my comments are just asking for logging. Since we return FALSE, it would be good to clarify if "false" means it is far away or if there was an error they should be aware of to look into possibly.

@SteveMacenski Thanks for your comments. I've made changes and added docs. Should the initial value of proximity_threshold be as it is (3.0m) or should I decrease it to maybe 1 meter?

[SteveMacenski]

One formatting request and one that I think is more clear. If you're OK with them, you should be able to just hit the 'accept changes' and it should add it and we can merge once CI is green on it!

[SteveMacenski]

I think a default of 1.0 is good yes. Make sure to just update the docs as well to reflect that

[SteveMacenski]

Just waiting on docs and CI.

In the future, please try to avoid force pushing. It doesn't show me the diffs then so I can just verify the 1-2 places you actually made updates. I have to review the file in entirety again since I can't see what specifically changed.