Basic Info

Description of contribution in a few bullet points

The collision_monitor subscriptions to topics <polygon_name>.polygon_sub_topic can now have transient local durability QoS. I added the boolean parameter <polygon_name>.polygon_subscribe_transient_local (default value is false, to keep default QoS compatibility), to be able to set the QoS durability to transient local for polygon topic subscription.

Description of documentation updates required from your changes

Added new parameter, so need to add that to default configs and documentation page

Future work that may be required in bullet points

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