Use BT.CPP Tree::sleep

[tonynajjar]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4736
Primary OS tested on	Ubuntu,
Robotic platform tested on	Custom simulation
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• Replaced BT's engine rclcpp::WallRate::sleep with Tree::sleep() to leverage event-driven trees

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 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

Attention: Patch coverage is 78.94737% with 4 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...ree/include/nav2_behavior_tree/utils/loop_rate.hpp	77.77%	4 Missing ⚠️

Files with missing lines	Coverage Δ
nav2_behavior_tree/src/behavior_tree_engine.cpp	80.00% <100.00%> (ø)
...ree/include/nav2_behavior_tree/utils/loop_rate.hpp	77.77% <77.77%> (ø)

... and 2 files with indirect coverage changes

[SteveMacenski]

LGTM, lets just move this object to nav2_behavior_tree where we have our other BT utilities and base functionality

[SteveMacenski]

@tonynajjar looks like CI doesn't like the linty-freshness of the updates 😆

otherwise, will merge.

@facontidavide: This seems like a useful util in BT.CPP - would you accept a PR with it?

[tonynajjar]

CI is still looking for bt_loop_rate.cpp although it was deleted. I guess some cache issue. Is it safe to merge anyway?

[SteveMacenski]

@tonynajjar bump the v28 to v29 (there are 3x) in this file: https://github.com/ros-navigation/navigation2/blob/main/.circleci/config.yml

We need to fix it first since this will persist to main if not resolved here first. Yes, looks like a usual caching issue when moving files around. It doesn't like that 😆