Sam bot description tutorial - not really working

[omerts]

Hi,

I have followed the "First-Time Robot Setup Guide¶", and my robot is just drifiting in different directions. After trying to move the Sam robot in this repo, I get the same behavior, even worse.

There are also some misconfiguration:

1. Because of Gazebo's diff driver plugin's namespace, no cmd_vel commands are received
2. bt_navigator & controller_server are registered to /odom, while gazebo is publishing to /demo/odom
3. There is an issue with the time on the tf frames because not all nodes are using the sim time parameter.

For the misconfigurations I have created a PR:
#57

For the reason the robot is flying away, I have been batteling it, being able to only mitigate it, but not solve it.

[elgarbe]

I've tried using the nav2_params.yaml provided with sam_bot (with this PR added):

ros2 launch nav2_bringup navigation_launch.py params_file:=xxxxx/nav2tutorial_ws/src/navigation2_tutorials/sam_bot_description/config/nav2_params.yaml

but get this errors:

[bt_navigator-5] [ERROR] [1706987053.543650228] [bt_navigator]: Exception when loading BT: Error at line 14: -> Node not recognized: WouldAPlannerRecoveryHelp
[bt_navigator-5] [ERROR] [1706987053.543975397] [bt_navigator]: Error loading XML file: /opt/ros/iron/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml 
[lifecycle_manager-8] [ERROR] [1706987053.545413334] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[lifecycle_manager-8] [ERROR] [1706987053.545639442] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.

[elgarbe]

adding:

      - nav2_are_error_codes_active_condition_bt_node
      - nav2_would_a_controller_recovery_help_condition_bt_node
      - nav2_would_a_planner_recovery_help_condition_bt_node
      - nav2_would_a_smoother_recovery_help_condition_bt_node   

to nav2_params.yaml on sam_bot_description solve previos problem.
Now I can see costmaps as expected by tutorial.