Follow pose (ros-navigation#1859)

* Truncate path finished

Signed-off-by: Francisco Martin Rico <[email protected]>

* Follow Pose finished

Signed-off-by: Francisco Martin Rico <[email protected]>

* Change names. Add test and doc

Signed-off-by: Francisco Martin Rico <[email protected]>

* Change names and check atan2 values

Signed-off-by: Francisco Martin Rico <[email protected]>

* Checking Inf/NaNs and trucate path changes

Signed-off-by: Francisco Martin Rico <[email protected]>

* Revert changes in launcher

Signed-off-by: Francisco Martin Rico <[email protected]>

* Documenting Tree

Signed-off-by: Francisco Martin Rico <[email protected]>

* Update nav2_bt_navigator/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_bt_navigator/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Change TruncatePath from decorator to action node

Signed-off-by: Francisco Martin Rico <[email protected]>

* Update nav2_bt_navigator/README.md

Co-authored-by: Steve Macenski <[email protected]>

Co-authored-by: Steve Macenski <[email protected]>

Author: fmrico

nav2_bringup/bringup/params/nav2_params.yaml

@@ -69,6 +69,8 @@ bt_navigator:
     - nav2_rate_controller_bt_node
     - nav2_distance_controller_bt_node
     - nav2_speed_controller_bt_node
+    - nav2_truncate_path_action_bt_node
+    - nav2_goal_updater_node_bt_node
     - nav2_recovery_node_bt_node
     - nav2_pipeline_sequence_bt_node
     - nav2_round_robin_node_bt_node