Update BT nodes to use callback groups / executors to process #2251
Description
For example: https://github.com/ros-planning/navigation2/blob/main/nav2_util/include/nav2_util/service_client.hpp#L43
Subs:
- Battery low
- Goal updater
- planner / controller / goal checker selectors
Actions:
- recoveries (spin, wait, backup)
- follow path
- compute path
- NavigateToPose
Services:
- clear all
- clear region
- clear except
- relocalize global (does this even work anymore?)