nav2_bt_navigator: log current location on navigate_to_pose action in…

…itialization (#3720)

It is very useful to know the current location considered by the
bt_navigator for debug purposes.

nav2_bt_navigator/src/navigators/navigate_to_pose.cpp

@@ -203,8 +203,15 @@ NavigateToPoseNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal)
 void
 NavigateToPoseNavigator::initializeGoalPose(ActionT::Goal::ConstSharedPtr goal)
 {
+  geometry_msgs::msg::PoseStamped current_pose;
+  nav2_util::getCurrentPose(
+    current_pose, *feedback_utils_.tf,
+    feedback_utils_.global_frame, feedback_utils_.robot_frame,
+    feedback_utils_.transform_tolerance);
+
   RCLCPP_INFO(
-    logger_, "Begin navigating from current location to (%.2f, %.2f)",
+    logger_, "Begin navigating from current location (%.2f, %.2f) to (%.2f, %.2f)",
+    current_pose.pose.position.x, current_pose.pose.position.y,
     goal->pose.pose.position.x, goal->pose.pose.position.y);
 
   // Reset state for new action feedback