Path trackin conditon node

[silanus23]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5037
Primary OS tested on	Ubuntu
Robotic platform tested on	nav2 bringup
Does this PR contain AI generated software?	util test
Was this PR description generated by AI software?	nope

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

BT node addition
max_error parameter
If there is a document for it maybe upcoming xml

Description of how this change was tested

I tried to take inspiration from is_battery_low condition node. I created unit tests too.

---

Future work that may be required in bullet points

• There is an upcoming xml I will put this in

<RateController hz="3.0">
          <Fallback name="PathTrackingRecoveryPlanner">
            <IsWithinPathTrackingBounds max_tracking_error="2.0" />
            <Fallback name="TieredReplanning">
              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
              <Sequence>
                <ClearEntireCostmap name="ClearGlobalCostmap-Tier2" service_name="global_costmap/clear_entirely_global_costmap"/>
                <RetryUntilSuccessful num_attempts="1">
                  <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
                </RetryUntilSuccessful>
              </Sequence>
            </Fallback>
          </Fallback>
        </RateController>

place this in navigating path through pose xml.

Note:

I had to take out every file with copy paste to a new branch. Cause I had created this branch as a sub branch of the last messy branch. This was the only clean choice that can save me.
I think this will solve my cycling comments and confused commits problem.

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
• Should this be backported to current distributions? If so, tag with backport-*.

[mergify]

@silanus23, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

For docs: this needs to be having its configuration guide page + add to Navigation Plugins table + migration guide with the larger feature description

[codecov]

Codecov Report

❌ Patch coverage is 82.97872% with 8 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...ition/is_within_path_tracking_bounds_condition.cpp	80.95%	8 Missing ⚠️

Files with missing lines	Coverage Δ
...ition/is_within_path_tracking_bounds_condition.hpp	100.00% <100.00%> (ø)
...ition/is_within_path_tracking_bounds_condition.cpp	80.95% <80.95%> (ø)

... and 10 files with indirect coverage changes

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[SteveMacenski]

My sincere apologoes for the gross delay - ROSCon + vacation + time to get back to speed meant that some things didn't get my time until today. Overall this looks great and its just small quibbles and we should be able to merge this soon!

Can this be moved from a draft? Did you test this to work well?

For docs: this needs to be having its configuration guide page + add to Navigation Plugins table + migration guide with the larger feature description

---

+   if (!getInput("max_error_left", max_error_left_)) {
+     RCLCPP_ERROR(logger_, "max_error_left parameter not provided");
+     return BT::NodeStatus::FAILURE;
+   }
+ 
+   if (max_error_left_ < 0.0) {
+     RCLCPP_WARN(logger_, "max_error_left should be positive, using absolute value");
+     max_error_left_ = std::abs(max_error_left_);
+   }
+ 
+   if (!getInput("max_error_right", max_error_right_)) {
+     RCLCPP_ERROR(logger_, "max_error_right parameter not provided");
+     return BT::NodeStatus::FAILURE;
+   }
+ 
+   if (max_error_right_ < 0.0) {
+     RCLCPP_WARN(logger_, "max_error_right should be positive, using absolute value");
+     max_error_right_ = std::abs(max_error_right_);
+   }

These lines should be covered in tests

[SteveMacenski]

Set logger_ = node->get_logger();

[SteveMacenski]

Use nav2::Subscription

[SteveMacenski]

Suggested change

	private:
	protected:

[SteveMacenski]

Move this before the variables; all methods before all variables please. Also needs doxygen documentation for the API