Feature request

Feature description

More than a feature request this is an interogation. In ROS1, move_base has a parameter called controller_patience described as:

How long the controller will wait in seconds without receiving a valid control before space-clearing operations are performed

(i.e. before giving up)

This was further extended in MBF with planner_max_retries:

How many times we will recall the planner in an attempt to find a valid plan before giving up

Is there an equivalent in nav2 ? And if not would a PR be of interest (I need a similar functionality so I will implement it regardless) ?

Implementation considerations

I see different way of implementing it

1. (personally preferred) Exposing this parameter in nav2_controller and try/catching the call to computeVelocityCommands https://github.com/ros-planning/navigation2/blob/3bf1f7a93d740c54b4c7ef7fc6dd914175bf46be/nav2_controller/src/nav2_controller.cpp#L388-L392
   And publishing 0 velocities in case of an exception as long we are under controller_patience
2. Exposing it at the controller plugin level