Bunch of navigation improvements

[ErikCald]

This pull request introduces two main sets of changes: (1) enhancements to the compressed_telemetry_cpp package to support efficient and configurable TF message relaying and telemetry, and (2) the addition of a new "TruncatePoses" Behavior Tree node in the cprt_behavior_tree_plugins package. There are also minor updates to costmap plugins and RViz configurations.

TF Telemetry and Relay Enhancements

• Added two new components to compressed_telemetry_cpp:
  • TFTelemetry: A node that subscribes to /tf, filters and caches transforms, and periodically publishes a reduced set on /telemetry/tf for efficient radio transmission. It supports allowed frame filtering and logs bandwidth/stats.
  • TFRelayNode: A node that bridges /telemetry/tf (best effort) to /viz/tf (reliable), ensuring RViz receives reliable TF data.
• Updated CMakeLists.txt to build and register the new nodes, add dependencies (tf2_msgs, geometry_msgs), and install executables. [1] [2] [3]
• Modified the launch file to include the new tf_relay_node and remap /tf in RViz to /viz/tf.
• Simplified the RViz config by removing many frame visualizations and updating the camera view. [1] [2] [3] [4] [5]

Behavior Tree Plugins

• Added a new TruncatePoses synchronous action node:
  • Allows truncating a list of PoseStamped goals to a configurable length within a Behavior Tree.
  • Includes implementation, header, CMake registration, and export. [1] [2] [3] [4]

Other Minor Changes

• Extended GridmapLayer with new state members for bounds tracking and a parameter for interpolation. [1] [2]

These changes collectively improve the reliability and efficiency of TF data handling over unreliable links and add useful Behavior Tree functionality for navigation.

[ErikCald]

im gonna merge this quickly once i see the copilot review so i can have a docker image tomorrow

[Copilot]

Pull request overview

This PR updates rover navigation behavior with new TF telemetry/relay components, a new Behavior Tree pose truncation plugin, revised search patterns, and tuning/configuration changes for Nav2, costmaps, RViz, ZED, and localization.

Changes:

• Adds TF telemetry publishing and relay support in compressed_telemetry_cpp.
• Adds TruncatePoses BT plugin and wires it into search navigation.
• Tunes planning/control/costmap/search parameters and updates RViz/search pattern configs.

Reviewed changes

Copilot reviewed 20 out of 20 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
src/Nav/navigation/rviz/costmap_trav.rviz	Updates displayed frames, paths, visibility, and camera view.
src/Nav/navigation/params/nav2.yaml	Adds BT plugin registration and retunes planners, smoothers, controllers, costmaps, and velocity smoothing.
src/Nav/navigation/config/zed/zed_override_params.yaml	Adjusts ZED publish rate, depth range, and stabilization.
src/Nav/navigation/config/elevation_mapping/postprocessing_traversability.yaml	Increases roughness weighting in traversability expression.
src/Nav/navigation/behavior_trees/bt_swerve_search_tree.xml	Adds pose truncation and switches to search-specific planner/controller IDs.
src/Nav/navigation/behavior_trees/bt_swerve_dynamic_replanning.xml	Switches to transit-specific planner/controller IDs and adjusts recoveries.
src/Nav/nav_commanders/nav_commanders/search_pattern_utils.py	Adds filleted-square search pattern generation and plotting updates.
src/Nav/nav_commanders/nav_commanders/cprt_commander.py	Switches mission configs to square search patterns and adds BT path fallback.
src/Nav/nav_commanders/config/search_patterns.yaml	Adds square/filleted-square search pattern configs.
src/Nav/localization/launch/ekf.launch.py	Launches TF telemetry with configurable rate and allowed frames.
src/Nav/cprt_costmap_plugins/src/gridmap_layer.cpp	Adds interpolation/logging options and rewrites gridmap-to-costmap update logic.
src/Nav/cprt_costmap_plugins/include/cprt_costmap_plugins/gridmap_layer.hpp	Adds bounds, interpolation, and logging state members.
src/Nav/cprt_behavior_tree_plugins/src/truncate_poses_action.cpp	Implements the new synchronous TruncatePoses BT action.
src/Nav/cprt_behavior_tree_plugins/include/cprt_behavior_tree_plugins/truncate_poses_action.hpp	Declares the new TruncatePoses BT action and ports.
src/Nav/cprt_behavior_tree_plugins/CMakeLists.txt	Builds, installs, and exports the new BT plugin library.
src/Nav/compressed_telemetry_cpp/src/TFTelemetry.cpp	Adds throttled/filtered /tf telemetry publisher.
src/Nav/compressed_telemetry_cpp/src/TFRelay.cpp	Adds telemetry TF relay from /telemetry/tf to /viz/tf.
src/Nav/compressed_telemetry_cpp/rviz/compressed_nav2.rviz	Simplifies TF display and updates RViz view.
src/Nav/compressed_telemetry_cpp/launch/compressed_nav2_viz.launch.py	Starts TF relay and remaps RViz TF input to /viz/tf.
src/Nav/compressed_telemetry_cpp/CMakeLists.txt	Builds/registers new TF telemetry and relay components.

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[ErikCald]

@copilot apply changes based on this feedback

[Copilot]

Applied in commit f272408 by adding <depend>tf2_msgs</depend> and <depend>geometry_msgs</depend> to compressed_telemetry_cpp/package.xml so package metadata matches CMake dependencies.