Right now, our behavior tree largely mimics that move_base state machine, with a bit more reactivity and some contextual recovery nodes in the main navigation subtree.

Its time to think a bit more and have better default behavior to deal with a broader set of situations. This might involve making new BT nodes, new recoveries, or reorganizing the tree.

An example of a capability that is generally required that might fall into the category of changes:

• Add default BT logic for patience near goal #2596
• Allow planning once and only replan if path has been invalidated #2374
• Potentially also include shim controller by default with DWB in config
• Remove oscillation issues
• Contextual recoveries
• Recoveries one at a time, retry once, then to the next
• Spin wiggle / not just 1 direction
• Cascading controllers plugin options for different situations
• Consider gen AI to create and/or autogenerate?