Adding uid to log msg (ros-navigation#3750)

* adding uid to the logged message

Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>

* less changes

Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>

---------

Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>
Signed-off-by: enricosutera <enricosutera@outlook.com>

Author: ct2034

nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp

@@ -69,6 +69,7 @@ class RosTopicLogger : public BT::StatusChangeLogger
     // before converting to a msg.
     event.timestamp = tf2_ros::toMsg(tf2::TimePoint(timestamp));
     event.node_name = node.name();
+    event.uid = node.UID();
     event.previous_status = toStr(prev_status, false);
     event.current_status = toStr(status, false);
     event_log_.push_back(std::move(event));

nav2_msgs/msg/BehaviorTreeStatusChange.msg

@@ -1,4 +1,5 @@
-builtin_interfaces/Time timestamp  # internal behavior tree event timestamp. Typically this is wall clock time
+builtin_interfaces/Time timestamp   # internal behavior tree event timestamp. Typically this is wall clock time
 string node_name
+uint16 uid                          # unique ID for this node
 string previous_status              # IDLE, RUNNING, SUCCESS or FAILURE
 string current_status               # IDLE, RUNNING, SUCCESS or FAILURE