change default goal to goal_pose and not just in default rviz

[SteveMacenski]

#455 updated the tool name, registration, default rviz files and documentation.

However the migration guide for Eloquent isn't technically correct (https://index.ros.org/doc/ros2/Releases/Release-Eloquent-Elusor/#rviz). The tool name changed, true, and the topic was changed for the default.rviz file. This is also where /move_base_simple/goal was defined from goal. There never was /move_base_simple/goal in the rviz tool file.

If this is what we're going to say in the migration guide, we should change the actual default hardcoded in the tool to be goal_pose, rather than just a configuration change in the rviz file.

I tried to think of a way to explain this better for the migration guide and decided that its just easier to align with it. If that's what people walked away thinking that PR did exactly, I should follow that.

[jacobperron]

Since I would think that the values in the default config file are effectively the defaults for the majority of users, I think we can skip backporting this change to Eloquent. If you want, we could clarify on the release page that the change was in the default config file.

• Linux
• Linux-aarch64
• macOS
• Windows

[SteveMacenski]

I agree with your statement. In fact, it wasn't until that was brought to my attention that /move_base_simple/goal wasnt in fact the hardcoded default in the code. It effectively is if you start your custom config from the default config.

I don't think any additional clarification is required. This change will make the updates required so that no additional clarification is necessary. Otherwise, I might have to reword it.