Add nav2_gps_waypoint_follower (ros-navigation#2814)

* Add nav2_gps_waypoint_follower

* use correct client node while calling it to spin

* changed after 1'st review

* apply requested changes

* nav2_util::ServiceClient instead of CallbackGroup

* another  iteration to adress issues

* update poses with function in the follower logic

* add deps of robot_localization: diagnostics

* fix typo in underlay.repo

* add deps of robot_localization: geographic_info

* minor clean-ups

* bond_core version has been updated

* rotation should also be considered in GPS WPFing

* use better namings related to gps wpf orientation

* handle cpplint errors

* tf_listener needs to be initialized

* apply requested changes

* apply requested changes 3.0/3.0

* fix misplaced ";"

* use run time param for gps transform timeout

* change timeout var name

* make use of stop_on_failure for GPS too

* passing emptywaypont vectors are seen as failure

* update warning for empty requests

* consider utm -> map yaw offset

* fix missed RCLCPP info

* reorrect action;s name

* waypoint stamps need to be updated

* Fix segmentation fault on waypoint follower

* Parametric frames and matrix multiplications

* Replace oriented navsatfix for geographic_msgs/geopose

* Remove deprecated oriented  navsatfix message

* Update branch name on robot_localization dependency

* Fix parametric frames logic

* Rename functions and adress comments

* fix style in underlay.repos

* remove duplicate word in underlay.repos

* update dependency version of ompl

* Template ServiceClient class to accept lifecycle node

* Remove link to stackoverflow answer

* Remove yaw offset compensation

* Fix API change

* Fix styling

* Minor docs fixes

* Fix style divergences

* Style fixes

* Style fixes v2

* Style fixes v3

* Remove unused variables and timestam overrides

* restore goal timestamp override

* WIP: Add follow gps waypoints test

* Style fixes and gazebo world inertia fix

* Reduce velocity smoother timeout

* empty commit to rerun tests

* Increment circle ci cache idx

* Remove extra space in cmakelists.txt

* Fix wrong usage of the global action server

* update follow gps waypoints action definition

* Fix action definition and looping

* update params for the unit testing

* WIP: update tests

* fix tests

* fixes to nav2 simple commander

* add robot_localization localizer

* Bring back from LL client

* Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py

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

* missing argument in test function

* small test error

* style fixes nav2 simple commander

* rename cartesian action server

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

Author: 3 people