deal with merge conflicts

Author: SteveMacenski

.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,45 @@
+<!--
+For general questions, please ask on ROS answers: https://answers.ros.org, make sure to include at least the `ros2` tag and the rosdistro version you are running, e.g. `ardent`.
+For general design discussions, please post on discourse: https://discourse.ros.org/c/ng-ros
+Not sure if this is the right repository? Open an issue on https://github.com/ros-planning/navigation2
+For Bug report or feature requests, please fill out the relevant category below
+-->
+
+## Bug report
+
+**Required Info:**
+
+- Operating System:
+  - <!-- OS and version (e.g. Windows 10, Ubuntu 16.04...) -->
+- Installation type:
+  - <!-- binaries or from source  -->
+- Version or commit hash:
+  - <!-- Output of git rev-parse HEAD, release version, or repos file  -->
+- DDS implementation:
+  - <!-- rmw_implementation used (e.g. Fast-RTPS, RTI Connext, etc -->
+- Client library (if applicable):
+  - <!-- e.g. rclcpp, rclpy, or N/A -->
+
+#### Steps to reproduce issue
+<!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/
+``` code that can be copy-pasted is preferred ``` -->
+```
+
+```
+
+#### Expected behavior
+
+#### Actual behavior
+
+#### Additional information
+
+<!-- If you are reporting a bug delete everything below
+     If you are requesting a feature deleted everything above this line -->
+----
+## Feature request
+
+#### Feature description
+<!-- Description in a few sentences what the feature consists of and what problem it will solve -->
+
+#### Implementation considerations
+<!-- Relevant information on how the feature could be implemented and pros and cons of the different solutions -->

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,36 @@
+<!-- Please fill out the following pull request template for non-trivial changes to help us process your PR faster and more efficiently.-->
+
+---
+
+## Basic Info
+
+| Info | Please fill out this column |
+| ------ | ----------- |
+| Ticket(s) this addresses   | (add tickets here #1) |
+| Primary OS tested on | (Ubuntu, MacOS, Windows) |
+| Primary platform tested on | (Steve's Robot, gazebo simulation of Tally, hardware turtlebot) |
+
+--- 
+
+## Description of contribution in a few bullet points
+
+<!--
+* I added this neat new feature
+* Also fixed a typo in a parameter name in nav2_costmap_2d
+-->
+
+--- 
+
+## Future work that may be required in bullet points
+
+<!--
+* I think there might be some optimizations to be made from STL vector
+* I see alot of redundancy in this package, we might want to add a function `bool XYZ()` to reduce clutter
+* I tested on a differential drive robot, but there might be issues turning near corners on an omnidirectional platform
+-->
+
+---
+
+<!-- OPTIONAL --> 
+
+I'd like to request maintainer: <blank> to review this PR. 

doc/design/ROS_COMPARISON.md

@@ -3,16 +3,16 @@
 ## Comparison to Move Base in ROS
 AMCL and map_server were ported to ROS2 with minimal functional changes, but some refactoring.
 
-  * amcl -> nav2_amcl
-  * map_server -> nav2_map_server
+  * amcl -> [nav2_amcl](/nav2_amcl/README.md)
+  * map_server -> [nav2_map_server](/nav2_map_server/README.md)
 
 ![Move Base 1](./move_base_compare_1.png)
 
 In addition, move_base itself has been split into multiple components:
 
-  * nav2_simple_navigator (replaces move_base)
-  * nav2_dijkstra_planner (replaces global_planner)
-  * nav2_controller_dwb (replaces local_planner)
+  * [nav2_simple_navigator](/nav2_simple_navigator/README.md) (replaces move_base)
+  * [nav2_dijkstra_planner](/nav2_dijkstra_planner/README.md) (replaces global_planner)
+  * [nav2_dwb_controller](/nav2_dwb_controller/README.md) (replaces local_planner)
 
 ![Move Base 2](./move_base_compare_2.png)
 
@@ -26,7 +26,7 @@ The *nav2_simple_navigator* itself is also a *Task Server* and can also be repla
 
 The *nav2_dijkstra_planner* is ported from the *navfn* package in ROS, but adds the *Task Server* interface to enable it to be strongly decoupled from the nav2_simple_navigator.
 
-Similarly, the *nav2_controller_dwb* is ported from the [dwb controller](https://github.com/locusrobotics/robot_navigation/tree/master/dwb_local_planner) package, and also adds a *Task Server* interface to also enable it to be decoupled from the *nav2_simple_navigator*.
+Similarly, the *nav2_dwb_controller* is ported from the [dwb controller](https://github.com/locusrobotics/robot_navigation/tree/master/dwb_local_planner) package, and also adds a *Task Server* interface to also enable it to be decoupled from the *nav2_simple_navigator*.
 
 All these changes make it possible to replace any of these nodes at launch/run time with any other algorithm that implements that same interface.
 

nav2_bringup/launch/core.launch.py

@@ -13,8 +13,7 @@ def generate_launch_description():
                 ], period = 1.0),
         launch.actions.TimerAction(
             actions = [
-                #launch_ros.actions.Node( package='nav2_controller_dwb', node_executable='nav2_controller_dwb', output='screen')
-                launch_ros.actions.Node( package='nav2_controller_example', node_executable='dwa_controller', output='screen')
+                launch_ros.actions.Node( package='nav2_controller_dwb', node_executable='nav2_controller_dwb', output='screen')
                 ], period = 5.0),
         launch.actions.TimerAction(
             actions = [