* Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over (ros-navigation#3333)

* Update bt_action_node.hpp

* Update bt_cancel_action_node.hpp

* Update bt_action_node.hpp

* Update bt_cancel_action_node.hpp

* Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap (ros-navigation#3356)

* Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap

When clearing entirely a costmap (see the `clear_entirely_*` service),
its layers are reset. This sets their `current_` attribute to False,
until they are updated (`updateCosts()`). However, for disabled
plugins/filters, the `updateCosts()` is bypassed so that the `current_`
attribute is never reset to True, and the costmap never becomes
"current" again; because of that the controller_server used to get stuck
in an endless loop (see `while (!costmap_ros_->isCurrent())`
in `ControllerServer::computeControl()`).

This patch fixes that by adding a condition for not considering disabled
plugins/filters in the `LayeredCostmap::isCurrent()`.

* Add forgotten Layer::isEnabled() definition

* Export ompl include directories from nav2_smac_planner. (ros-navigation#3358)

* Update default w_smooth to 2M (ros-navigation#3341)

* Fix nav2_velocity_smoother for sim time (ros-navigation#3360)

* Fix nav2_velocity_smoother for sim time

* Update nav2_velocity_smoother/src/velocity_smoother.cpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* catch general exceptions (ros-navigation#3373)

* catch general exceptions

* Update controller_server.cpp

* nav2_tree_nodes: rename "service_name" input port for action nodes (ros-navigation#3370)

Classes inheriting from nav2_behavior_tree::BtActionNode use
"server_name" as input port. The "service_name" input port is reserved
to sub-classes of nav2_behavior_tree::BtServiceNode. There seemed to be
a confusion in the nav2_tree_nodes.xml file.

* Fixing Theta* test failures (ros-navigation#3380)

* adding printouts since can't see locally

* one more to isolate

* request in bounds

* remove prints

* Fix SpeedController (ros-navigation#3378)

* Fix SpeedController
* Using blackboard get() method that does not throw error
* Share odom_smoother on the blackboard

Signed-off-by: Borong Yuan <yuanborong@hotmail.com>

* Fix SpeedController linting and test errors

Signed-off-by: Borong Yuan <yuanborong@hotmail.com>

Signed-off-by: Borong Yuan <yuanborong@hotmail.com>

* node_name change during initialization (ros-navigation#3387)

* Added missing conditions to nav2_tree_nodes (ros-navigation#3401)

* Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp to nav2_tree_nodes

* Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp...... to nav2_tree_nodes

* Update nav2_tree_nodes.xml

---------

Co-authored-by: blanker <you@example.com>

* Fix multi-robot launch issues (ros-navigation#3383)

* Fix multi-robot launch issues:
* Use full name of composable nodes container
* Correct and update BT plugins and error codes list
* Fix and update local and global costmap used plugins parameters

* Do not publish voxel map for multi-robot case

* Update controller_server.cpp

* Update nav2_smoother.cpp

---------

Signed-off-by: Borong Yuan <yuanborong@hotmail.com>
Co-authored-by: Andrii Maistruk <71632363+andriimaistruk@users.noreply.github.com>
Co-authored-by: milidam <milidam@users.noreply.github.com>
Co-authored-by: Marc Alban <marcalban@gmail.com>
Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>
Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com>
Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>
Co-authored-by: Borong Yuan <yuanborong@hotmail.com>
Co-authored-by: Austin Greisman <92941098+austin-InDro@users.noreply.github.com>
Co-authored-by: muttistefano <mutti.stefano.jp@gmail.com>
Co-authored-by: blanker <you@example.com>

* Adding new MPPI controller to Nav2 (ros-navigation#3350)

* adding new MPPI controller to Nav2

* fixing rename for Nav2 staging

* using larger resource class

* fix plugin name

* wz typo

* add mppi gif

* Update defaults.yaml

* Update makeflags
to match core count of resource_class: large

* Bump cache version
for testing CI changes

* fixing tests

* remove unused function

* Update config.yml

* adding a little more detail

* adding contextual note

* adding contextual exceptions

* Fix using different frame for global and local costmap (ros-navigation#3425)

* getGlobalPlanConsideringBoundsInCostmapFrame

Replace transformPlanPosesToCostmapFrame and getGlobalPlanConsideringBounds by getGlobalPlanConsideringBoundsInCostmapFrame

* use stamp from robot pose for transform

* style

* fix test

* lint test

---------

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

---------

Co-authored-by: ruffsl <roxfoxpox@gmail.com>
Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
(cherry picked from commit 8d4f6f4)

* Replace nav2_core exceptions with std::runtime_error

* Get inflation layer parameters from node params

* remove changes unrelated to mppi

* fix eol

* Add reset behavior (draft)

* initialize last_time_called_

* add readme for reset_period

* Revert "remove changes unrelated to mppi"

This reverts commit 55fec35.

* changing MPPI's SG filter to 9-point formulation (prev. 5) (ros-navigation#3444)

* changing filter to 9

* fix tests

(cherry picked from commit 7aee1e7)

* Adapt tests to humble Costmap2DROS constructor

* cpplint

* Update nav2_mppi_controller/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* address time comment

* fix API change rclcpp::ServicesQoS()

* fix CI

---------

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>