reduce planner server nodes (#2480)

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

nav2_planner/src/planner_server.cpp

@@ -37,7 +37,7 @@ namespace nav2_planner
 {
 
 PlannerServer::PlannerServer()
-: nav2_util::LifecycleNode("nav2_planner", "", true),
+: nav2_util::LifecycleNode("nav2_planner", ""),
   gp_loader_("nav2_core", "nav2_core::GlobalPlanner"),
   default_ids_{"GridBased"},
   default_types_{"nav2_navfn_planner/NavfnPlanner"},
@@ -132,14 +132,20 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & state)
 
   // Create the action servers for path planning to a pose and through poses
   action_server_pose_ = std::make_unique<ActionServerToPose>(
-    rclcpp_node_,
+    shared_from_this(),
     "compute_path_to_pose",
-    std::bind(&PlannerServer::computePlan, this));
+    std::bind(&PlannerServer::computePlan, this),
+    nullptr,
+    std::chrono::milliseconds(500),
+    true);
 
   action_server_poses_ = std::make_unique<ActionServerThroughPoses>(
-    rclcpp_node_,
+    shared_from_this(),
     "compute_path_through_poses",
-    std::bind(&PlannerServer::computePlanThroughPoses, this));
+    std::bind(&PlannerServer::computePlanThroughPoses, this),
+    nullptr,
+    std::chrono::milliseconds(500),
+    true);
 
   return nav2_util::CallbackReturn::SUCCESS;
 }