Feature request

Feature description

Use parameterized frame_id.

Implementation considerations

Modification is needed for

• https://github.com/ros-planning/navigation2/blob/13633cd3efdaf2a206bb9df0f76e4f5e8e996d2b/nav2_recoveries/src/recovery_server.cpp#L75
  • Using odom and base_link
• https://github.com/ros-planning/navigation2/blob/13633cd3efdaf2a206bb9df0f76e4f5e8e996d2b/nav2_recoveries/plugins/back_up.cpp#L56-L70
  • Using odom and base_link
• https://github.com/ros-planning/navigation2/blob/13633cd3efdaf2a206bb9df0f76e4f5e8e996d2b/nav2_recoveries/plugins/spin.cpp#L73-L94
  • Using odom and base_link
• https://github.com/ros-planning/navigation2/blob/13633cd3efdaf2a206bb9df0f76e4f5e8e996d2b/nav2_costmap_2d/src/collision_checker.cpp#L176
  • Using map and base_link
  • I think that costmap_.getRobotPose should be used.
• https://github.com/ros-planning/navigation2/blob/13633cd3efdaf2a206bb9df0f76e4f5e8e996d2b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp#L73
  • Using map and base_link