Changelog for package mbf_costmap_nav

0.4.0 (2021-10-26)

make the costmaps used for planning and controlling configurable, see #278
return empty footprint if partly outside of the map, see #272
add tf_transform_ptr to the abstract planner execution, see #256
transform pose to global frame before calling planner in costmap planner execution, see #256

Fix controller fails if robot pose gets older than tf_timeout, see #231
clear the costmap before deactivating it, see #220
Use catkin_install_python to install legacy relay. see #219
For move_base_legacy_relay, keep configured base local and global planners to send to MBF, see #209
Fix deallocation on shutdown by discarding all plugins and resetting action server pointers, see #199
Make reference symbol position consistent across the project, see #198
Move RobotInformation to mbf_utility, as it can be used generaly, see #196
Prevent unrelated type casts for Cell, see #197

Remove dependency on base_local_planner and move FootprintHelper class to mbf_costmap_nav and make it static

Ensure that check_costmap_mutex is destroyed after timer.
Avoid crash on shutdown by stop shutdown_costmap_timer on destructor and explicitly call the costmap_nav_srv destructor

Add clear_on_shutdown functionality
Do not pass boost functions to abstract server to (de)activate costmaps. Run instead abstract methods (possibly) overridden in the costmap server, all costmap-related handling refactored to a new CostmapWrapper class
On controller execution, check that local costmap is current

Do not use MultiThreadedSpinner, as costmap updates can crash when combining laser scans and point clouds
Make start/stop costmaps mutexed, since concurrent calls to start can lead to segfaults