Nav2 Behavior Trees

[a-stickan]

Description

In IGVC, a navigation state machine using move_base_flex was used to help decide what paths should be taken and to offer recovery options during the planning and execution of paths. Making a similar version of this system using Nav2 behavior trees will make our autonomous stack far more functional.

Fleshing out the mapping/path planning stack first might be preferable, but this issue should be able to be resolved by setting up a basic framework that can be expanded upon later.

Requirements

• Implement Nav2 behavior trees
  • Must have way to get a path
  • Must have way to execute a path
  • Must have way to recover after failed get/execute

[a-stickan]

Stale issue, remake when needed