* remove topic based positioning for TF and removing extraneous build fields

* robot utils complete for getting positioning from TF

* readding the custom logger for getting current pose

* remove extra TODO

* fixing fun crustyness

* pass by ref not shared ptr

* wrapping costmap 2d's get pose with util

* revert costmap 2d plugin initialization swap

* fixing more uncrustified issues while I wait

* adding transform listener to buffers

* adding tf listeners and missing dependencies

* editing test cases

* trying no exception

* first stab at unit tests with TF2 for costmap 2D integration test

* adding the create timer interface

* adding updated pose info for testing

* com'n crusty code, why are you different in CI?

* fixing merge conflicts p2