Draft: Added GoalUpdatedController BT plugin node (ros-navigation#3044)

* first draft for goal updated controller

Signed-off-by: relffok <57466265+relffok@users.noreply.github.com>

* added goal_updated_controller to all yamls

* added GoalUpdatedController API

* added GoaUpdatedController to default plugins

* removed first_time param

* added test for GoalUpdatedController

* linter fix

Author: relffok

nav2_bringup/params/nav2_multirobot_params_1.yaml

@@ -82,6 +82,7 @@ bt_navigator:
     - nav2_path_expiring_timer_condition
     - nav2_distance_traveled_condition_bt_node
     - nav2_single_trigger_bt_node
+    - nav2_goal_updated_controller_bt_node
     - nav2_is_battery_low_condition_bt_node
     - nav2_navigate_through_poses_action_bt_node
     - nav2_navigate_to_pose_action_bt_node

nav2_bringup/params/nav2_multirobot_params_2.yaml

@@ -82,6 +82,7 @@ bt_navigator:
     - nav2_path_expiring_timer_condition
     - nav2_distance_traveled_condition_bt_node
     - nav2_single_trigger_bt_node
+    - nav2_goal_updated_controller_bt_node
     - nav2_is_battery_low_condition_bt_node
     - nav2_navigate_through_poses_action_bt_node
     - nav2_navigate_to_pose_action_bt_node

nav2_bringup/params/nav2_params.yaml

@@ -82,6 +82,7 @@ bt_navigator:
     - nav2_path_expiring_timer_condition
     - nav2_distance_traveled_condition_bt_node
     - nav2_single_trigger_bt_node
+    - nav2_goal_updated_controller_bt_node
     - nav2_is_battery_low_condition_bt_node
     - nav2_navigate_through_poses_action_bt_node
     - nav2_navigate_to_pose_action_bt_node