This PR makes some improvements and fixes some bugs in Project 4. The project code itself didn't actually need much work, but the navigation stack had a lot of lurking errors in it. Most of this PR ends up actually making nav fixes to get Project 4 working again.
Navigation related changes include:
param_file -> nav_params_file to avoid name collision with gazebo's params_file argument
nav2_recoveries -> nav2_behaviors
Adds empty map server so projects that don't use real-time mapping can still navigate (disabling the static layer doesn't seem to work anymore)
Updates navigation BT param names to match Humble changes
This PR makes some improvements and fixes some bugs in Project 4. The project code itself didn't actually need much work, but the navigation stack had a lot of lurking errors in it. Most of this PR ends up actually making nav fixes to get Project 4 working again.
Navigation related changes include: