outputting tracker feedback on ComputeAndTrack BT node

[alexanderjyuen]

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Basic Info

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

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Description of contribution in a few bullet points

*Modified the ComputeAndTrackRoute BT Action node to also receive feedback and output the feedback on the black board during on_wait_for_result

Description of documentation updates required from your changes

• Add routing actions to https://docs.nav2.org/behavior_trees/overview/nav2_specific_nodes.html
• Add new outputs to https://docs.nav2.org/configuration/packages/bt-plugins/actions/ComputeAndTrackRoute.html

Description of how this change was tested

• This change was tested with the change in Nonblocking sequence bt control node #5325 in simulation. A route was generated and FollowPath was used to navigate the path

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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
• Should this be backported to current distributions? If so, tag with backport-*.

[Copilot]

Pull Request Overview

Adds the ability for ComputeAndTrackRouteAction to receive intermediate feedback during execution and expose it on the Behavior Tree blackboard.

• Extended on_wait_for_result to propagate tracker feedback fields (last_node_id, next_node_id, current_edge_id, route, path, rerouted) to the BT blackboard.
• Declared corresponding BT output ports in the node’s header.
• Registered the new output ports in the XML plugin definition.

Reviewed Changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated no comments.

File	Description
nav2_behavior_tree/plugins/action/compute_and_track_route_action.cpp	Handle and set new feedback outputs in on_wait_for_result.
nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp	Added BT OutputPort declarations for all new feedback fields.
nav2_behavior_tree/nav2_tree_nodes.xml	Added XML <output_port> entries for each new feedback field.

Comments suppressed due to low confidence (2)

nav2_behavior_tree/nav2_tree_nodes.xml:140

• The description for current_edge_id is just "e" and may be unclear to users. Consider changing it to something more descriptive like "ID of the current edge in the route" to match the header doc.

      <output_port name="current_edge_id">"e"</output_port>

nav2_behavior_tree/plugins/action/compute_and_track_route_action.cpp:134

• New output ports are added for feedback, but there aren’t any tests covering these fields. Consider adding unit or integration tests to verify that each feedback value is correctly written to the blackboard.

    setOutput("last_node_id", feedback->last_node_id);

[codecov]

Codecov Report

Attention: Patch coverage is 74.28571% with 9 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
.../plugins/action/compute_and_track_route_action.cpp	67.85%	9 Missing ⚠️

Files with missing lines	Coverage Δ
.../plugins/action/compute_and_track_route_action.hpp	100.00% <100.00%> (ø)
.../plugins/action/compute_and_track_route_action.cpp	67.74% <67.85%> (+0.04%)	⬆️

... and 10 files with indirect coverage changes

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