[Galactic Backport Issue] AttributeError: 'BasicNavigator' object has no attribute 'smoother_client'

[m2-farzan]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Galactic (from source)
• Version or commit hash:
  • Current galactic head: e23d708
• DDS implementation:
  • Fast-RTPS

Steps to reproduce issue

#!/bin/python3

import rclpy
from nav2_simple_commander.robot_navigator import BasicNavigator

rclpy.init()
nav = BasicNavigator()
nav.destroyNode()

Expected behavior

Exit cleanly

Actual behavior

Traceback (most recent call last):
  File "a.py", line 8, in <module>
    nav.destroyNode()
  File "/root/ros2_galactic_overlay/install/lib/python3.8/site-packages/nav2_simple_commander/robot_navigator.py", line 91, in destroyNode
    self.destroy_node()
  File "/root/ros2_galactic_overlay/install/lib/python3.8/site-packages/nav2_simple_commander/robot_navigator.py", line 100, in destroy_node
    self.smoother_client.destroy()
AttributeError: 'BasicNavigator' object has no attribute 'smoother_client'

Additional information

This has to do with partial backporting. #2940 backports #2924 which partially relied on #2881. But #2881 is not backported to galactic. Assuming #2881 can't be backported for some good reason, I'll make a PR that solves this by removing the extra reference in #2924.

[SteveMacenski]

Thank you much! It has been merged