Remove default values for input ports on IsGoalNearby condition to behave in line with similar nodes

[fabmene]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#6096
Primary OS tested on	Ubuntu
Robotic platform tested on	Simulation of custom robot
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

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Description of contribution in a few bullet points

• Removal of default values for input ports for frame ids - if input ports are not provided, the node is supposed to fall back to ros parameters. This is in line with other behavior nodes.
• Documentation of input ports for frame ids

Description of documentation updates required from your changes

https://docs.nav2.org/configuration/packages/bt-plugins/conditions/IsGoalNearby.html lists default values as base_link and map. Those are technically not the default values for the input ports any longer, but are still the defaults for the parameters, to which this node will fall back if no input ports are provided. So the documentation does not need an update, as it now matches exactly how e.g. GoalReached behaves and is documented.

Description of how this change was tested

• Updated existing unit tests to set frames through parameters on the node
• Added additional unit tests where a non-standard frame is used

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Future work that may be required in bullet points

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
• Should this be backported to current distributions? If so, tag with backport-*.

[SteveMacenski]

Agreed, thanks!

[SteveMacenski]

@fabmene please fix the linting:

--- nav2_behavior_tree/test/plugins/condition/test_is_goal_nearby.cpp
+++ nav2_behavior_tree/test/plugins/condition/test_is_goal_nearby.cpp.uncrustify
@@ -39,2 +39,2 @@
-      return std::make_unique<nav2_behavior_tree::IsGoalNearbyCondition>(name, config);
-    };
+        return std::make_unique<nav2_behavior_tree::IsGoalNearbyCondition>(name, config);
+      };
@@ -53 +53 @@
-  void TearDown() override { tree_.reset(); }
+  void TearDown() override {tree_.reset();}


...


Error: /__w/navigation2/navigation2/nav2_behavior_tree/test/plugins/condition/test_is_goal_nearby.cpp:308:  Lines should be <= 100 characters long  [whitespace/line_length] [2]