[loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos

[adivardi]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation of TB4
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• loopback_simulator: Publish /clock, so there is a clock available for all other nodes. Without a clock published, the local & global costmaps are not published, so they don't appear on rviz.
• Costmap_2d: Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t. This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data. In addition the Subscriber(..., rmw_qos_profile_t) constructor is anyway deprecated in favor of Subscriber(..., rclcpp::QoS)
• Small typos in Smac Planner's README

Description of documentation updates required from your changes

Added new parameter with True by default in the launch file. Already added to the package's README. need to add that to default configs and documentation page

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For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

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nav2_costmap_2d/plugins/obstacle_layer.cpp	76.82% <100.00%> (-0.08%)	⬇️

... and 5 files with indirect coverage changes

[SteveMacenski]

Can you add the new parameter to the configuration guide for the node? Then we can merge the pair https://github.com/ros-navigation/docs.nav2.org/blob/master/configuration/packages/configuring-loopback-sim.rst

[adivardi]

Can you add the new parameter to the configuration guide for the node? Then we can merge the pair ros-navigation/docs.nav2.org@master/configuration/packages/configuring-loopback-sim.rst

in ros-navigation/docs.nav2.org#600

[SteveMacenski]

@adivardi commented on that. A minor issue and I can merge the pair. Thanks!

[SteveMacenski]

Sorry for the delay, we had ROSCon, ROS-I, and then I took a short vacation while in Europe. I'm getting back to work this morning :-)