* Fix memory leak in nav2_recoveries

* Fix recovery server memory leak (better interface)

* Fix costmap2d memory leak

* Fix nav2_navfn_planner memory leak

* Fix planner server and navfn planner memory leak

* Make all rclcpp::Node::SharedPtr argument passing const

* Fix controller server and DWB plugins memory leak

* Minor fixes

* Fix formatting errors

* Change all plugin interfaces to use weak_ptr intead of shared_ptr to parent rclcpp::Node

* Convert all SharedPtr to WeakPtr

* Check shared_ptr after lock and before dereferencing

* adding smac_planner to navigation2 metapackage

* adding params to metapackage

* update config files

* adding navfn benchmark testing

* updates to costmap_2d for flexility

* update planner API for new changes

* adding ompl to underlay because ros2 master doesn't contain the rosdep key

* patching templated footprint collision checker

* fix typo

* updating readme config file

* Analytic expansion (ros-navigation#43)

* Use OMPL to generate heuristics

The calculation is run at every planning cycle. It does not seem to slow down
the planner - the calculation time seems to be quick enough that the
improvement in graph expansion accounts for it.

* Use OMPL to calculate analytic solution when near goal

* Make angles multiples of the bin size to stop looping behaviour

* Uncrustify

* Use faster std::sqrt function

* Fix analytic path so that the collision checker has coordinates to check!

* Pre-allocate variables in analytic path expansion

* Rename typedef to NodeGetter to more accurately describe function

* Use distance rather than heuristic to determine when to perform analytic expansion

Also force the analytic expansion to run on first iteration in case path is trivial.

* Move the check for motion model into the main A* loop

* Add copyright notices

* Remove comment about relaxing node match tolerances

The analytic expansion removes the need for this.

* Correctly reset node coordinates when aborting from analytic expansion

* Move analytic expansion logic to separate function

* Uncrustify

* Remove unneeded call to get goal coordinates

* Fix the calculation of intervals in the analytic path

Reserve the number of candidate nodes we are expecting.
Base calculations on intervals rather than points - makes distances between nodes work properly.

* Rescale heuristic so that analytic expansions are based on distance

* Repeatedly split analytic path in half when checking for collision

* Add parameter to control rate of analytic expansion attempts

* Uncrustify

* Fix incorrect type in templated function

* Cpplint

* Revert "Repeatedly split analytic path in half when checking for collision"

This reverts commit 94d9ee0.

There was a marginal speed gain (perhaps!) and the splitting approach made
the code harder to understand and maintain.

* Uncrustify

* Add doxygen comments

* Add parameter description for analytic expansion ratio

* Set lower limit of 2 on number of iterations between analytic expansions

* Reduce expected number of iterations because of analytic completion

* Refactor analytic expansion ratio calcs to make logic easier to understand

* add readme color

* fix linting

* ceil from floor (and speed up)

* a few updates

* fix smac tests

* fixing smoother test

* remove cost check - to be readded at another time

* working last test from debug issues

* Update README.md

* Update README.md

* adding getUseRadius API doxygen

Co-authored-by: James Ward <james@robomo.co>

* adding some more tests to smac_planner

* addtl smac tests

* remove unused functions

This reverts commit 681ccfa.