Basic Info

Description of contribution in a few bullet points

One can send initial pose guesses via services now. I closely oriented at the already existing "/reinitialize_global_localization" service but I additionally had to create a new SetInitialPose service interface in nav2_msgs. In my tests, setting the pose and the covariances had the same behavior as using the topic "/initialpose".

Description of documentation updates required from your changes

I added a new service "/set_initial_pose". So I guess that could be added to the list of services in the documentation.

Future work that may be required in bullet points

none

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists