Successor PR for ros-navigation#1993, Introduces A plugin interface to define behaviours at waypoint arrivals when using nav2_waypoint_follower (ros-navigation#2015)

* Add WaypointTaskExecutor plugin to main

Signed-off-by: jediofgever <[email protected]>

* couple result of task execution with stop_on_failure

Signed-off-by: jediofgever <[email protected]>

* add  failed ids to it's vector

* experimental change in nav2_waypoint_tester

Signed-off-by: jediofgever <[email protected]>

* remove unused code

Author: jediofgever

nav2_bringup/bringup/params/nav2_params.yaml

@@ -280,3 +280,13 @@ recoveries_server:
 robot_state_publisher:
   ros__parameters:
     use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "waypoint_task_executor"   
+    waypoint_task_executor:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 0