Move geometry_msgs/PoseStampedArray to nav_msgs/Goals (#269)

* Move geometry_msgs/PoseStampedArray to nav_msgs/Goals
Fixes #267

Signed-off-by: Tully Foote <tullyfoote@intrinsic.ai>

Author: tfoote

geometry_msgs/msg/PoseStampedArray.msg

@@ -1,5 +1,5 @@
-# An array of stamped poses with a header
-# The global header will store the time at which the poses were computed (not to be confused with the stamps of the poses themselves)
+# This is deprecated and will be removed before the next release. Do not use. This is to allow a migration without breaking of nav2.
+# TODO REMOVE THIS BEFORE release!!!!
 
 std_msgs/Header header
 PoseStamped[] poses

nav_msgs/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 set(msg_files
+  "msg/Goals.msg"
   "msg/GridCells.msg"
   "msg/MapMetaData.msg"
   "msg/OccupancyGrid.msg"

nav_msgs/msg/Goals.msg

@@ -0,0 +1,12 @@
+# An array of navigation goals
+
+
+# This header will store the time at which the poses were computed (not to be confused with the stamps of the poses themselves)
+# In the case that individual poses do not have their frame_id set or their timetamp set they will use the default value here.
+std_msgs/Header header
+
+# An array of goals to for navigation to achieve.
+# The goals should be executed in the order of the array.
+# The header and stamp are intended to be used for computing the position of the goals.
+# They may vary to support cases of goals that are moving with respect to the robot.
+geometry_msgs/PoseStamped[] goals