port wait behavior to new gazebo

[stevedanomodolor]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

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Description of contribution in a few bullet points

• Port wait behavior.
• Related issue Port nav2 systems test to new gazebo #4455

Description of documentation updates required from your changes

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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

[mergify]

This pull request is in conflict. Could you fix it @stevedanomodolor?

[SteveMacenski]

@stevedanomodolor I went through the logs on this one and noticed: ‘[ERROR] [amcl-6]: process has died [pid 6040, exit code -11, cmd '/opt/overlay_ws/install/nav2_amcl/lib/nav2_amcl/amcl --ros-args --log-level info --ros-args -r _node:=amcl -p use_sim_time:=True --params-file /tmp/launch_params_nl3yyz5 -r /tf:=tf -r /tf_static:=tf_static'].‘

It looks like AMCL straight up crashed on bringup which caused this to fail since the initial pose wasn’t being received

[stevedanomodolor]

@stevedanomodolor I went through the logs on this one and noticed: ‘[ERROR] [amcl-6]: process has died [pid 6040, exit code -11, cmd '/opt/overlay_ws/install/nav2_amcl/lib/nav2_amcl/amcl --ros-args --log-level info --ros-args -r _node:=amcl -p use_sim_time:=True --params-file /tmp/launch_params_nl3yyz5 -r /tf:=tf -r /tf_static:=tf_static'].‘

It looks like AMCL straight up crashed on bringup which caused this to fail since the initial pose wasn’t being received

Its kind of a mix it seems, sometimes the test fails, some times amcl is not able to set the initial pose(this causes the lifecycle node not to be able to change state). Its a bit of both. Still cant pin point the problem exaclty why it crashes though. I will be busy until today till friday, so I might not have time to look into this untill saturday.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

see 4 files with indirect coverage changes

[SteveMacenski]

This one works fine, that was just a fluke run