Migrate geometry_msgs/PoseStampedArray to nav_msgs/Goals

[leander-dsouza]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4976
Primary OS tested on	Ubuntu
Robotic platform tested on	N/A
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• Migrated geometry_msgs/msg/PoseStampedArray to nav_msgs/msg/Goals across the codebase.

Description of documentation updates required from your changes

• The migration guide from Jazzy to Kilted needs to be updated for BT Nodes to use nav_msgs/msg/Goals instead.

Description of how this change was tested

• Syntax migration tested through a simple colcon build from the workspace.
• Unit tests were run using colcon test.

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[SteveMacenski]

Check CI - a few tests failed with legit problems that a couple of spots were missed 😄

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
...avior_tree/include/nav2_behavior_tree/bt_utils.hpp	100.00% <100.00%> (ø)
...ugins/action/compute_path_through_poses_action.hpp	100.00% <100.00%> (ø)
...e/plugins/action/navigate_through_poses_action.hpp	100.00% <100.00%> (ø)
...lugins/action/remove_in_collision_goals_action.hpp	100.00% <100.00%> (ø)
...tree/plugins/action/remove_passed_goals_action.hpp	100.00% <100.00%> (ø)
...gins/condition/globally_updated_goal_condition.hpp	100.00% <100.00%> (ø)
..._tree/plugins/condition/goal_updated_condition.hpp	100.00% <100.00%> (ø)
...tree/plugins/decorator/goal_updated_controller.hpp	100.00% <100.00%> (ø)
...avior_tree/plugins/decorator/goal_updater_node.hpp	100.00% <100.00%> (ø)
...havior_tree/plugins/decorator/speed_controller.hpp	100.00% <100.00%> (ø)
... and 9 more

... and 6 files with indirect coverage changes

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[leander-dsouza]

Check CI - a few tests failed with legit problems that a couple of spots were missed 😄

It should be fixed now :)
I had not migrated nav2_system_tests earlier to have the new message.

[SteveMacenski]

@tonynajjar this is your feature, can you validate that this works for you too? I did the code review and have no notes. I think its ready to go in once you're OK with it.

It just changes the name of the message essentially (and poses to goals) as Tully moved it to nav_msgs to be more semantically meaningful