Add collision checking for footprint without using subscibers. (#1703)

* Add collision checking for footprint without using subscibers.

* Address reviewer's comments

- Changed the design if the footprint collision checkers
- And propogate the changes to dependencies such as nav2_recoveries and nav2_core

* Remove some extra headers

* Remove debuging code

* Add requested test

* Change weird test names.

* Remove unorientFootprint function dependency

* Imporve tests

* Fix commented Varible