Feature request

Feature description

I had this idea of creating an RViz plugin for changing the controllers, planners, etc on the fly from the RViz. Like if someone is testing out a new controller, he or she might always have to use the controller_selector topic to publish the controller_id (provided they have a controller_selector node included in their BT plugin). Of course this can all be done from the terminal. This RViz plugin will just provide some additional cushion for users.

Some may want to even tryout different combinations of planners and controllers, in that case too, it would be easy to keep track of the planners and the controllers that are in use from the RViz plugin. Also it acts as a status indicator on which controller_id is being utilized for the process at hand.

Implementation considerations

Currently I just did a small prototype as shown below (yes, it comes with Nav2 logo as well 😄 , but not sure if I should keep it because of the space constraints )

So, when the robot is in the navigation state, you cannot do any changes to the planner id and the controller id. The robot has to reach the goal in order to change the planner or controller for the next process.

CC: @jwallace42