[ISSUE]: Nav2 action goal mismatch in `edge_action_manager2` causes `NavigateToPose` abort

[ibrahimhroob]

Description

Summary
topological_navigation aborts when executing the edge action NavigateToPose because edge_action_manager2.py incorrectly assumes the Nav2 goal message has a poses[] field. NavigateToPose_Goal only contains a single pose, so the action server throws AttributeError and the goal is aborted.

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Environment

• ROS 2: Humble

• Package: topological_navigation

• Script(s):

  • topological_navigation/scripts/navigation2.py
  • topological_navigation/edge_action_manager2.py

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Steps to Reproduce

1. Run the topological navigation stack.
2. Trigger an edge traversal that selects the action NavigateToPose (via edge action manager).
3. Observe runtime error and aborted goal.

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Expected Behavior

NavigateToPose should execute successfully, and destination extraction should use goal.pose (single pose).

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Actual Behavior

The action server crashes during execute callback and aborts the goal.

Logs:

[edge_action_manager]: Executing action : NavigateToPose
[topological_navigation]: Error raised in execute callback: 'NavigateToPose_Goal' object has no attribute 'poses'
Traceback (most recent call last):
  ...
  File ".../topological_navigation/edge_action_manager2.py", line 1388, in execute
    current_destination = (target_goal.poses[-1].pose.position.x, target_goal.poses[-1].pose.position.y)
AttributeError: 'NavigateToPose_Goal' object has no attribute 'poses'
...
[topological_navigation]: Goal state not set, assuming aborted.

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Root Cause

edge_action_manager2.py uses:

target_goal.poses[-1]

This is only valid for nav2_msgs/action/NavigateThroughPoses goals (which have poses[]).
For nav2_msgs/action/NavigateToPose, the goal field is pose (singular).

So when NavigateToPose is selected, accessing poses raises AttributeError.

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Additional Notes

• If the intended behavior is to follow multiple waypoints, then the edge action should be configured to use NavigateThroughPoses instead of NavigateToPose.

• Current behavior suggests either:

  1. action selection is correct but the destination extraction is wrong, or
  2. action selection should be NavigateThroughPoses but is misconfigured.

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Impact

• Navigation goals abort immediately when the selected edge action is NavigateToPose.
• Breaks autonomy execution flow and topological edge traversal.