add bt log file

[jwallace42]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	None
Primary OS tested on	Ubuntu
Robotic platform tested on	Gazebo

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Description of contribution in a few bullet points

Added bt logger file to log transitions in a separate file from ros debug logs. Currently, the transitions can be see by setting the log level to debug. However, this spams the logs making it unreadable. Instead, adding the transitions to a separate file will allow users to provide useful log files to developers. For example, if a bug come up the user attaches the ros logs and the bt transition logs. The pr uses the file logger specified here https://www.behaviortree.dev/tutorial_05_subtrees/.

ex:

[1660495514.917637]: NavigateRecovery IDLE -> RUNNING [1660495514.917656]: RateController IDLE -> RUNNING [1660495514.917658]: ComputePathToPoseRecovery IDLE -> RUNNING [1660495514.917662]: ComputePathToPose IDLE -> RUNNING [1660495514.917852]: NavigateWithReplanning IDLE -> RUNNING

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• [ ] Check that any new parameters added are updated in navigation.ros.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

[mergify[bot]]

@jwallace42, please properly fill in PR template in the future. @stevemacenski, use this instead.

• [ ] Check that any new parameters added are updated in navigation.ros.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

[SteveMacenski]

It seems generally like a good idea!

[jwallace42]

So,

I did a bit of thinking and we can trash this pr. The user can launch everything with the log levels set to debug and we can use rqt console to filter out results to just look at the bt transition logs to find any bugs :).