Add feedback in navigation2 actions (ros-navigation#1736)

* adding navigate to pose feedback and remove random crawl from master

* adding controller feedback

* recovery feedback actions

* Update nav2_controller/src/nav2_controller.cpp

Co-Authored-By: Carl Delsey <1828778+cdelsey@users.noreply.github.com>

* Add feedback in wait action and make general improvements

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix rebase errors

* Make feedback reset across different goals

Co-authored-by: stevemacenski <stevenmacenski@gmail.com>
Co-authored-by: Carl Delsey <1828778+cdelsey@users.noreply.github.com>

Author: 3 people

nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml

@@ -49,6 +49,8 @@ amcl_rclcpp_node:
 bt_navigator:
   ros__parameters:
     use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
     bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node

nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml

@@ -49,6 +49,8 @@ amcl_rclcpp_node:
 bt_navigator:
   ros__parameters:
     use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
     bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node

nav2_bringup/bringup/params/nav2_params.yaml

@@ -49,6 +49,8 @@ amcl_rclcpp_node:
 bt_navigator:
   ros__parameters:
     use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
     bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node