Basic Info

Description of contribution in a few bullet points

Submitting as a draft as there are a couple of points to discuss.

This PR adds a per source blocking watchdog mechanism, i.e. stop the robot if a source is not publishing at the expected rate (building on the existing source_timeout mechanism).

• It adds the parameter block_if_invalid (other name suggestions are welcome) either per source or globally. If set to true, a source triggering its source_timeout will make the robot stop.
• In order to make it work with a set of source/sensor of different frequencies, I made possible to use the parameter source_timeout per source. I.e. having different value for each sensors. In order not break the current behavior, if not set, each source specific source_timeout are set by default to the global source_timeout.
• I modified the getData method to return false if a source is considered invalid AND block_if_invalid: true. @AlexeyMerzlyakov, can you maybe check/have a look if the invalid conditions make sense ?
• I modified symmetrically the collision detector with the new parameters but did not change the behavior. Any thought on what we should do there regarding block_if_invalid ?
• Tests ?

Description of documentation updates required from your changes

TBD once points above are resolved

Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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