Navigate through poses action ability (#2271)

* initial work commit for compiling

* building and almost basic working in navigator

* working!

* MVP done of navigate through poses in BT navigator side

* working with zmq issue

* adding compute path to pose, navigate through pose, through XML, and goal updater updates to support navigate through poses action

* feedback contains culling

* planner server with compute through poses server

* abstracting more of the logic from the 2 planner server actions

* fixing action server mixup

* adding rviz support for nav  through poses

* improvements in reliability

* resolving issues in the rviz plugins and enabling the BT navigator to better handle exceptions and muxing states

* working nav through poses complete MVP, just cleanup now

* bookkeeping up to date

* linting updates + launch file parameter change updates

* additional removal of patches from individual BT parameterization

* adding find BT node for path removal points

* remove extraneous file

* adding to readme

* linting

* adding missing comma

* moving try catch to another part of the code

* create fake servers for BT system tests

* clean exiting

* unit BT tests

* fixing typo

* switch poses for pose

* adding system test to nav through poses

* fixing merge conflict issue

* fix conflicts with 2246

* function conflict test resolution

* fix linting