Added nav2 integration (fixed latched /map, connected nav2_msgs/NavigateToGoal action to rtabmap, updated turteblebot3 example launch file to work with navigation)

CMakeLists.txt

@@ -29,6 +29,7 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(nav_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
 find_package(stereo_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
@@ -52,7 +53,6 @@ find_package(image_geometry REQUIRED)
 find_package(octomap_msgs)
 #find_package(apriltag_msgs)
 #find_package(find_object_2d)
-find_package(move_base_msgs)
 #find_package(fiducial_msgs)
 
 ## System dependencies are found with CMake's conventions
@@ -216,6 +216,7 @@ SET(Libraries
    sensor_msgs
    std_msgs
    nav_msgs
+   nav2_msgs
    geometry_msgs
    image_transport
    tf2
@@ -309,19 +310,6 @@ ENDIF(octomap_msgs_FOUND)
 #ADD_DEFINITIONS("-DWITH_APRILTAG_MSGS")
 #ENDIF(apriltag_msgs_FOUND)
 
-# If move_base_msgs is found, add definition
-IF(move_base_msgs_FOUND)
-MESSAGE(STATUS "WITH move_base_msgs")
-include_directories(
-  ${move_base_msgs_INCLUDE_DIRS}
-)
-SET(Libraries
-  move_base_msgs
-  ${Libraries}
-)
-ADD_DEFINITIONS("-DWITH_MOVE_BASE_MSGS")
-ENDIF(move_base_msgs_FOUND)
-
 # If fiducial_msgs is found, add definition
 IF(fiducial_msgs_FOUND)
 MESSAGE(STATUS "WITH fiducial_msgs")