improving collision behavior in MPPI (ros-navigation#4009)

* improving collision behavior in MPPI

* update readme

* fix test updates

* adjust nav through poses for contextual error codes

* contextual error codes to Nav Through Poses

nav2_bringup/params/nav2_params.yaml

@@ -199,7 +199,7 @@ local_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.55
+        inflation_radius: 0.70
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
@@ -256,7 +256,7 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.55
+        inflation_radius: 0.7
       always_send_full_costmap: True
 
 # The yaml_filename does not need to be specified since it going to be set by defaults in launch.
@@ -362,7 +362,7 @@ collision_monitor:
       type: "polygon"
       action_type: "approach"
       footprint_topic: "/local_costmap/published_footprint"
-      time_before_collision: 2.0
+      time_before_collision: 1.2
       simulation_time_step: 0.1
       min_points: 6
       visualize: False