use __node:= in NodeOptions

[rotu]

This way, if __node:= is passed to the node executable, it gets overridden on each subnode and these subnodes get unique names.

Fixes #842

This is a better approach than #851 since it respects other global options, like topic remapping.
To test, run the nav stack with node name overrides in your launch file.

[cottsay]

Where possible, you should use get_name() in place of the string that is passed to the central node's constructor. That way both nodes get renamed appropriately if a node name override is supplied.

[mkhansenbot]

I see one redundant comment line, and you need to pass the lint tools before merge.

I believe this is the test command to run to see the failures:
colcon test --packages-skip nav2_system_tests nav2_dynamic_params nav2_motion_primitives nav2_bt_navigator nav2_costmap_2d nav2_lifecycle_manager nav2_tasks nav2_robot

[codecov]

Codecov Report

Merging #858 into master will increase coverage by 0.04%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master     #858      +/-   ##
==========================================
+ Coverage   20.44%   20.48%   +0.04%     
==========================================
  Files         181      181              
  Lines        9305     9317      +12     
  Branches     2259     2268       +9     
==========================================
+ Hits         1902     1909       +7     
- Misses       6320     6323       +3     
- Partials     1083     1085       +2

Impacted Files	Coverage Δ
src/navigation2/nav2_util/src/lifecycle_node.cpp	65.21% <0%> (-17.14%)	⬇️
...2/nav2_lifecycle_manager/src/lifecycle_manager.cpp	16.41% <0%> (-0.51%)	⬇️
...gation2/nav2_costmap_2d/plugins/obstacle_layer.cpp	0% <0%> (ø)	⬆️
...on2/nav2_util/include/nav2_util/service_client.hpp	25% <0%> (ø)	⬆️
...navigation2/nav2_bt_navigator/src/bt_navigator.cpp	0% <0%> (ø)	⬆️
...tmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp	0% <0%> (ø)	⬆️
...navigation2/nav2_costmap_2d/src/costmap_2d_ros.cpp	0% <0%> (ø)	⬆️
src/navigation2/nav2_util/src/node_utils.cpp	58.62% <0%> (ø)	⬆️
src/navigation2/nav2_navfn_planner/src/navfn.cpp	46.84% <0%> (+1.26%)	⬆️

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[mkhansenbot]

Looks good, thanks for cleaning it up. It's passing CI now.