feat: add parameter to log transitions to IDLE state in behavior tree

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp

@@ -294,6 +294,9 @@ class BtActionServer
   // should the BT be reloaded even if the same xml filename is requested?
   bool always_reload_bt_ = false;
 
+  // Whether to log BT transitions to IDLE state
+  bool log_idle_ = true;
+
   // Parameters for Groot2 monitoring
   bool enable_groot_monitoring_ = false;
   int groot_server_port_ = 1667;

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -169,6 +169,9 @@ bool BtActionServer<ActionT, NodeT>::on_configure()
   always_reload_bt_ = node->declare_or_get_parameter(
     "always_reload_bt_xml", false);
 
+  log_idle_ = node->declare_or_get_parameter(
+    "bt_log_idle_transitions", true);
+
   // Get error code id names to grab off of the blackboard
   error_code_name_prefixes_ = node->get_parameter("error_code_name_prefixes").as_string_array();
 
@@ -366,7 +369,7 @@ bool BtActionServer<ActionT, NodeT>::loadBehaviorTree(const std::string & bt_xml
   }
 
   // Optional logging and monitoring
-  topic_logger_ = std::make_unique<RosTopicLogger>(client_node_, tree_);
+  topic_logger_ = std::make_unique<RosTopicLogger>(client_node_, tree_, log_idle_);
   current_bt_file_or_id_ = file_or_id;
 
   if (enable_groot_monitoring_) {

nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp

@@ -40,15 +40,20 @@ class RosTopicLogger : public BT::StatusChangeLogger
    * @brief A constructor for nav2_behavior_tree::RosTopicLogger
    * @param ros_node Weak pointer to parent nav2::LifecycleNode
    * @param tree BT to monitor
+   * @param log_idle Whether to enable logging transitions to IDLE state
    */
-  RosTopicLogger(const nav2::LifecycleNode::WeakPtr & ros_node, const BT::Tree & tree)
+  RosTopicLogger(
+    const nav2::LifecycleNode::WeakPtr & ros_node,
+    const BT::Tree & tree,
+    bool log_idle = true)
   : StatusChangeLogger(tree.rootNode())
   {
     auto node = ros_node.lock();
     clock_ = node->get_clock();
     logger_ = node->get_logger().get_child("ros_topic_logger");
     log_pub_ = node->create_publisher<nav2_msgs::msg::BehaviorTreeLog>(
       "behavior_tree_log");
+    enableTransitionToIdle(log_idle);
   }
 
   /**