Fix for jazzy #2
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In GZ Ignition, tb3 publishes its ground truth pose as odometry with respect to its start position. Even when spawning the model at (5,5), the map->base_link transform is 0 because the robot did not drive. This causes navigation to fail as the robot pose is too far from the start of the path.
Copied from ros-navigation/navigation2
and add (5,5) to map->odom tf as it is the transform from world/map frame to the robot's initial pose
This reverts commit cb65987.
This reverts commit 8164091.
This reverts commit 6a61940.
Without the shutdown: The tests are passing in `RUN_ALL_TESTS()`, the test itself is failing with timeout. Most probably because `server_thread.join()` hangs forever.
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Also follow PR to official repo in: open-navigation#82