Fix pose timestamp when using transformPoseInTargetFrame

[mini-1235]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5414 (comment)
Primary OS tested on	Ubuntu
Robotic platform tested on
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

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Description of contribution in a few bullet points

• Fix pose timestamp when using transformPoseInTargetFrame

Description of documentation updates required from your changes

Description of how this change was tested

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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-*.

[mini-1235]

I audited other uses of transformPoseInTargetFrame and while not always as synchronized as I would like (some just set to now() or leave as zero), I don't see any immediate issues. Though, perhaps not a bad idea to fix all of those which we're at it to be synchronized with a real timestamp.

@SteveMacenski I went through all the usages of transformPoseIntargetFrame and I think we only need to modify

• Controller server
• DWB: now aligns with rpp, mppi, and graceful
• Route server

I did not modify others like this one

navigation2/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp

Lines 229 to 232 in 3c081db

	geometry_msgs::msg::PoseStamped goal_pose;
	if (!nav2_util::transformPoseInTargetFrame(
	goal->pose, goal_pose, *feedback_utils_.tf, feedback_utils_.global_frame,
	feedback_utils_.transform_tolerance))

as I think it has more to do with the "input" side(although we can use the current pose's timestamp)

Please share your thoughts, and let me know if I missed something

[mini-1235]

Ok, I think I know why CI was failing in my first commit,
https://github.com/mini-1235/navigation2/blob/5a3e36852fbfb9da79c9d8dac32aacf5d7838334/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp#L537-L542
In dwb we are trying to transform from map to odom, while in other controllers we transform from map to base_link

[codecov]

Codecov Report

❌ Patch coverage is 91.66667% with 1 line in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
..._dwb_controller/dwb_core/src/dwb_local_planner.cpp	88.88%	1 Missing ⚠️

Files with missing lines	Coverage Δ
nav2_controller/src/controller_server.cpp	84.86% <100.00%> (+0.03%)	⬆️
nav2_route/src/goal_intent_extractor.cpp	95.80% <100.00%> (+0.05%)	⬆️
..._dwb_controller/dwb_core/src/dwb_local_planner.cpp	81.45% <88.88%> (+0.04%)	⬆️

... and 3 files with indirect coverage changes

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[SteveMacenski]

@mini-1235 thanks for the follow up!