Fix AttributeError in edge_action_manager2 when executing NavigateToPose actions

[Copilot]

edge_action_manager2.py incorrectly assumes all Nav2 goals have a poses[] array field, causing AttributeError: 'NavigateToPose_Goal' object has no attribute 'poses' when executing NavigateToPose actions. Only NavigateThroughPoses goals have poses[]; NavigateToPose goals have a single pose field.

Changes

• edge_action_manager2.py:1340-1347: Add conditional to handle both action types when extracting destination coordinates for logging and visualization

# Before
current_destination = (target_goal.poses[-1].pose.position.x, target_goal.poses[-1].pose.position.y)

# After
if target_action == self.ACTIONS.NAVIGATE_TO_POSE:
    current_destination = (target_goal.pose.pose.position.x, target_goal.pose.pose.position.y)
else:
    current_destination = (target_goal.poses[-1].pose.position.x, target_goal.poses[-1].pose.position.y)

This prevents the abort and allows both action types to execute successfully.

Original prompt

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This section details on the original issue you should resolve

<issue_title>[ISSUE]: Nav2 action goal mismatch in edge_action_manager2 causes NavigateToPose abort</issue_title>
<issue_description>### Description

Summary
topological_navigation aborts when executing the edge action NavigateToPose because edge_action_manager2.py incorrectly assumes the Nav2 goal message has a poses[] field. NavigateToPose_Goal only contains a single pose, so the action server throws AttributeError and the goal is aborted.

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Environment

• ROS 2: Humble

• Package: topological_navigation

• Script(s):

  • topological_navigation/scripts/navigation2.py
  • topological_navigation/edge_action_manager2.py

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Steps to Reproduce

1. Run the topological navigation stack.
2. Trigger an edge traversal that selects the action NavigateToPose (via edge action manager).
3. Observe runtime error and aborted goal.

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Expected Behavior

NavigateToPose should execute successfully, and destination extraction should use goal.pose (single pose).

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Actual Behavior

The action server crashes during execute callback and aborts the goal.

Logs:

[edge_action_manager]: Executing action : NavigateToPose
[topological_navigation]: Error raised in execute callback: 'NavigateToPose_Goal' object has no attribute 'poses'
Traceback (most recent call last):
  ...
  File ".../topological_navigation/edge_action_manager2.py", line 1388, in execute
    current_destination = (target_goal.poses[-1].pose.position.x, target_goal.poses[-1].pose.position.y)
AttributeError: 'NavigateToPose_Goal' object has no attribute 'poses'
...
[topological_navigation]: Goal state not set, assuming aborted.

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Root Cause

edge_action_manager2.py uses:

target_goal.poses[-1]

This is only valid for nav2_msgs/action/NavigateThroughPoses goals (which have poses[]).
For nav2_msgs/action/NavigateToPose, the goal field is pose (singular).

So when NavigateToPose is selected, accessing poses raises AttributeError.

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Additional Notes

• If the intended behavior is to follow multiple waypoints, then the edge action should be configured to use NavigateThroughPoses instead of NavigateToPose.

• Current behavior suggests either:

  1. action selection is correct but the destination extraction is wrong, or
  2. action selection should be NavigateThroughPoses but is misconfigured.

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Impact

• Navigation goals abort immediately when the selected edge action is NavigateToPose.
• Breaks autonomy execution flow and topological edge traversal.
  </issue_description>

Comments on the Issue (you are @copilot in this section)

• Fixes [ISSUE]: Nav2 action goal mismatch in edge_action_manager2 causes NavigateToPose abort #223

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