Deprecates use of geometry_msgs/PoseArray for particle cloud in AMCL (#2281)

* removed geometry_msgs/PoseArray in AMCL, updated rviz configs

* ParticleFilter -> ParticuleCloud

* put back adding of weights and poses for particles

was incorrectly deleted in 0ca93b5413b85d05202868c79b83ac630df7e40a

* complies with linter's max line length

https://github.com/ros-planning/navigation2/pull/2281#issuecomment-811449976

* reformatted file using ament_uncrustify

commandline tool used: ament_uncrustify --reformat src/navigation2/nav2_amcl/src/amcl_node.cpp