Tutorial for Nav2 Route Tool

[john-chrosniak]

This PR includes a tutorial for the Nav2 route tool that was introduced here: ros-navigation/navigation2#4775

[SteveMacenski]

I think there's some git issues since it looks like there are unrelated commits to this in the diff (ie updates to the graceful controller config page, costmap config page, etc) that needs to be sorted :-)

These gifs are fantastic! They are really tutorials in it of themselves, so I really appreciate that attention to detail and quality.

The only other thing that might be nice is then using that graph to do a planning request with the route server, but maybe that's better served in a new tutorial (out of scope of your needs?). What do you think?

Overall, this looks great and I don't have really many notes

[john-chrosniak]

I think there's some git issues since it looks like there are unrelated commits to this in the diff (ie updates to the graceful controller config page, costmap config page, etc) that needs to be sorted :-)

Should be resolved now!

The only other thing that might be nice is then using that graph to do a planning request with the route server, but maybe that's better served in a new tutorial (out of scope of your needs?). What do you think?

I think this may be out of scope for the route generation tool tutorial but I'd be happy to create this as part of a separate route server tutorial. Appreciate the feedback!

[SteveMacenski]

I'll merge this in once we have the route server work in Nav2, but it is approved and will be merged in as soon as the tool is available as well :-)

[SteveMacenski]

I think this may be out of scope for the route generation tool tutorial but I'd be happy to create this as part of a separate route server tutorial. Appreciate the feedback!

Upon further thinking, I think this is something I should put together. I have some subtle details I want to explain about how to use the route server (i.e. use for global routing -> then a global planner for a local horizon -> then trajectory generator VS global routing and using this as the plan for trajectory generation VS global routing and as global plan being tracked using the tracking capabilities and replanning within the route server). I think this would need to wait until that's all done and I can put demos together since some of those things aren't 100% complete and would also require building a few BT demos of nodes that also don't exist yet