Refactor rclcpp::executor::FutureReturnCode deprecation (ros-navigation#1702)

* Refactor deprecated code

* Add ompl repo (for test)

* Fix indent

* Remove OMPL

Author: shivaang12

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -98,13 +98,13 @@ class BtServiceNode : public BT::SyncActionNode
   virtual BT::NodeStatus check_future(
     std::shared_future<typename ServiceT::Response::SharedPtr> future_result)
   {
-    rclcpp::executor::FutureReturnCode rc;
+    rclcpp::FutureReturnCode rc;
     rc = rclcpp::spin_until_future_complete(
       node_,
       future_result, server_timeout_);
-    if (rc == rclcpp::executor::FutureReturnCode::SUCCESS) {
+    if (rc == rclcpp::FutureReturnCode::SUCCESS) {
       return BT::NodeStatus::SUCCESS;
-    } else if (rc == rclcpp::executor::FutureReturnCode::TIMEOUT) {
+    } else if (rc == rclcpp::FutureReturnCode::TIMEOUT) {
       RCLCPP_WARN(
         node_->get_logger(),
         "Node timed out while executing service call to %s.", service_name_.c_str());