Merge branch 'nav2_route_server' into route-server-develop

Signed-off-by: John Chrosniak <chrosniakj@gmail.com>

Author: john-chrosniak

nav2_bringup/launch/localization_launch.py

@@ -20,6 +20,8 @@
 from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.actions import SetEnvironmentVariable
 from launch.conditions import IfCondition
+from launch.substitutions import EqualsSubstitution
+from launch.substitutions import NotEqualsSubstitution
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import LoadComposableNodes, SetParameter
 from launch_ros.actions import Node

nav2_bringup/params/nav2_params.yaml

@@ -318,7 +318,7 @@ waypoint_follower:
 
 route_server:
   ros__parameters:
-    graph_filepath: "/home/carma/ros2_ws_route_humble/src/navigation2/nav2_route/graphs/turtlebot3_world_graph.geojson"
+    graph_filepath: "/home/steve/Documents/nav2_ws/src/navigation2/nav2_route/graphs/aws_graph.geojson"
     boundary_radius_to_achieve_node: 1.0
     radius_to_achieve_node: 2.0
     operations: ["AdjustSpeedLimit", "ReroutingService", "CollisionMonitor"]