Colcon mixin now installed from base image

Fix params file path for nav2_params in the system tests

Cache per packge.xml via multistage build

* Refactored launch files including fixes for
launching TB3 in simulation.

Update lifecycle_manager_client.cpp

Fix build error under clang:
```
--- stderr: nav2_lifecycle_manager                                                                                                
/opt/ros/master/src/ros-planning/navigation2/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp:149:5: error: cannot pass object of non-trivial type 'std::string' (aka 'basic_string<char>') through variadic function; call will abort at runtime [-Wnon-pod-varargs]
    service_name_);
    ^
/opt/ros/master/src/ros-planning/navigation2/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp:160:5: error: cannot pass object of non-trivial type 'std::string' (aka 'basic_string<char>') through variadic function; call will abort at runtime [-Wnon-pod-varargs]
    service_name_);
    ^
2 errors generated.
```

remove nav2_dynamic_parameters

move costmap in nav2_planner to shared_ptr and node to rclcpp lifecycle

Nav2 Planner + Navfn plugin

Add current workspace to the rosdep install command

remove commmented out line

@SteveMacenski 
Fix #1102
Clarify which version and how to get version.