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Added goal checker API change note in migration guide #315

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May 27, 2022
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6 changes: 6 additions & 0 deletions migration/Galactic.rst
Original file line number Diff line number Diff line change
@@ -309,3 +309,9 @@ Respawn Support in Launch and Lifecycle Manager
`PR 2752 <https://github.com/ros-planning/navigation2/pull/2910>`_ enables respawn support in Nav2. In the launch files, you may set ``use_respawn`` to ``true`` to enable respawning of servers that crash. This is only available in non-composed systems, since in composed systems, all of the nodes are under a single process and a crash anywhere will bring everything down (including the lifecycle manager itself). Even if the container was set to respawn, it would only respawn the empty container, not with all of the components loaded into it.

That PR also enables the lifecycle manager to check if a system goes down due to a crash. If so, it allows the manager to check if the server comes back online within a given timeout period. If it does, it will automatically retransition the system back up to active to continue on its task automatically.


Goal Checker API Changed
******************************
`PR 2965 <https://github.com/ros-planning/navigation2/pull/2965>`_ adds an extra argument in the initialize function of the `nav2_core::GoalChecker` class.
The extra argument is a costmap_ros pointer. This is used to check if the goal is in collision, so that we can avoid moving towards the goal and replanning can be initiates using some BT plugin.