updating tutorials for jazzy/main

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Author: SteveMacenski

nav2_pure_pursuit_controller/include/nav2_pure_pursuit_controller/pure_pursuit_controller.hpp

@@ -28,8 +28,8 @@ class PurePursuitController : public nav2_core::Controller
 
   void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros) override;
+    std::string name, const std::shared_ptr<tf2_ros::Buffer> tf,
+    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
 
   void cleanup() override;
@@ -39,7 +39,7 @@ class PurePursuitController : public nav2_core::Controller
 
   geometry_msgs::msg::TwistStamped computeVelocityCommands(
     const geometry_msgs::msg::PoseStamped & pose,
-    const geometry_msgs::msg::Twist & velocity
+    const geometry_msgs::msg::Twist & velocity,
     nav2_core::GoalChecker * goal_checker) override;
 
   void setPlan(const nav_msgs::msg::Path & path) override;

nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp

@@ -10,7 +10,8 @@
 #include <string>
 #include <memory>
 
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/controller_exceptions.hpp"
+#include "nav2_core/planner_exceptions.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "nav2_pure_pursuit_controller/pure_pursuit_controller.hpp"
 #include "nav2_util/geometry_utils.hpp"

nav2_straightline_planner/include/nav2_straightline_planner/straight_line_planner.hpp

@@ -81,7 +81,8 @@ class StraightLine : public nav2_core::GlobalPlanner
   // This method creates path for given start and goal pose.
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped & start,
-    const geometry_msgs::msg::PoseStamped & goal) override;
+    const geometry_msgs::msg::PoseStamped & goal,
+    std::function<bool()> cancel_checker) override;
 
 private:
   // TF buffer

nav2_straightline_planner/src/straight_line_planner.cpp

@@ -89,7 +89,8 @@ void StraightLine::deactivate()
 
 nav_msgs::msg::Path StraightLine::createPlan(
   const geometry_msgs::msg::PoseStamped & start,
-  const geometry_msgs::msg::PoseStamped & goal)
+  const geometry_msgs::msg::PoseStamped & goal,
+  std::function<bool()> /*cancel_checker*/)
 {
   nav_msgs::msg::Path global_path;