Bug report

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Galactic
• Version or commit hash:
  • 2de3f92
• DDS implementation:
  • CycloneDDS

Steps to reproduce issue

git clone https://github.com/HarunTeper/AuNa
cd AuNa
git checkout 24c114b3aaf0cd6da65316245e08b98669ca948b

./auto_setup.sh
colcon build --symlink-install
source install/setup.bash
ros2 launch auna_scenarios scenario_single_robot_arena_navigation.launch.py

2nd Terminal:
source install/setup.bash
ros2 launch auna_mqtt mqtt_waypoint_receiver.launch.py

Expected behavior

The robot receives 4 waypoints to use the navigate_through_poses behavior tree to move

Actual behavior

The robot starts the recovery behavior and the following error occurs:
[bt_navigator-12] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist
[bt_navigator-12] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp

Additional information

The remove_passed_goals_action.cpp plugin does not natively use the robot_base_frame specified for the bt_navigator. Instead, it uses the frame names specified in the navigate_through_poses_bt_xml file.

Feature request

Make the BtNavigator plugins automatically use the same parameters as the bt_navigator, specifically the "global_frame" and "robot_base_frame" parameters for this case.