Unify navigation on NavigateToPose and remove legacy proxies

tests/helpers/live_mock_smoke.py

@@ -33,9 +33,6 @@ def goal_for(name):
         goal.target_pose.header.frame_id = "map"
         goal.target_pose.pose.orientation.w = 1.0
         goal.position_tolerance = goal.yaw_tolerance = 0.1
-    elif name == "navigate_semantic":
-        goal.kind, goal.reference, goal.registry_version = "LOCATION", "bin_A", 1
-        goal.position_tolerance = goal.orientation_tolerance = 0.1
     elif name == "execute_manipulation":
         goal.skill, goal.instruction = "pick", "pick the smoke target"
         goal.target.object_ref, goal.target.description = "smoke-target", "smoke target"
@@ -111,8 +108,8 @@ def main():
         if not cancel.goals_canceling:
             raise RuntimeError("cancel was not acknowledged")
         canceled = await_future(handle.get_result_async())
-        if (canceled.result.result.status != canceled.result.result.CANCELED or
-                canceled.result.result.stop_state != canceled.result.result.UNKNOWN):
+        if (canceled.result.status != canceled.result.CANCELED or
+                canceled.result.stop_state != canceled.result.STOP_UNKNOWN):
             raise RuntimeError("cancel terminal did not preserve unknown stop")
 
         state_client = client_node.create_client(GetRobotState, "get_robot_state")