Use native library haltTree()

[doisyg]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	Dexory Robot

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Description of contribution in a few bullet points

As discussed, draft to open the discussion.

Update to use the the native cpp library haltTree() method in BehaviorTreeEngine::haltAllActions.
https://github.com/BehaviorTree/BehaviorTree.CPP/blob/61c55ed720e0630f211686b3830942ae27e90501/include/behaviortree_cpp_v3/bt_factory.h#L162-L179

Before this change, only the active BT node was halted when finishing the action. After this change, all BT nodes halt() methods are called. This is very convenient to handle cleaning operation (switch off your lights when leaving) in halt().

Also updated nav2_behavior_tree::BtActionServer::haltTree() to use the same. It is used nowhere in nav2 but is useful for external users (like me) that want for instance to halt the tree on preemption.

Description of documentation updates required from your changes

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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

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (be370db) 90.30% compared to head (284daa7) 90.05%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3950      +/-   ##
==========================================
- Coverage   90.30%   90.05%   -0.26%     
==========================================
  Files         415      415              
  Lines       18450    18444       -6     
==========================================
- Hits        16662    16610      -52     
- Misses       1788     1834      +46     

Files	Coverage Δ
...nclude/nav2_behavior_tree/behavior_tree_engine.hpp	100.00% <ø> (ø)
...ee/include/nav2_behavior_tree/bt_action_server.hpp	83.33% <ø> (ø)
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	86.76% <100.00%> (ø)
nav2_behavior_tree/src/behavior_tree_engine.cpp	76.19% <100.00%> (-5.30%)	⬇️

... and 7 files with indirect coverage changes

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[SteveMacenski]

I see no downside - why a draft?

[doisyg]

Switching to PR ;)

[doisyg]

I guess a note on the migration guide ?

[doisyg]

Docs: ros-navigation/docs.nav2.org#487

[SteveMacenski]

Honestly not sure if that was worth a migration guide doc since its not actionable to users, but I'll always default to more docs over less docs 😉