* Lifecycle enable the nav2_system_test directory

* Enable the localization system test; still needs some work

* Run linter tools; Add lifecycle manager to some tests

* Address some review feedback

* Remove dependencies on external turtlebot3 packages

* Address some review feedback

* Port AMCL to lifecycle nodes

* Address some review feedback

* Add a message, per review feedback, to warn if an initial pose comes in before AMCL is active

* Address some review feedback

* Updating the spin & backup behavior tree action nodes to use ROS2 actions.

* Deleting the stop primitive.

and therefore allowing to be used by both regular and lifecycle nodes.

* Port DWB to ROS2 actions and update for ROS2 parameter changes

* Remove the rate monitor-related code (not ready for check-in yet)

* Remove a callback related to rate monitoring

* Address some review feedback

* More review feedback

* Lifecycle enable the costmap_2d package

* Address some review feedback and adapt to new ROS2 requirement to declare parameters

* Enable some commented-out code in the obstacle layer

* Remove debug printf

* Move declaration of parameters to the constructor to avoid redeclaration error

* Forgot to move a couple local variables

* Remove obsolete functions

* Update the launch scripts for lifecycle nodes

* Use the turtlebot3 map by default

* Port the dwb code to lifecycle nodes

* Add a few missing dependencies & some misc. fix-ups

* Address some review feedback

* Adapt to recent changes with the ROS2 Action client interface

* Also have to update the simple navigator

* Fix linter issues

* Per review feedback, rename the nav2_controller to be nav2_lifecycle_manager

To avoid confusion with low-level controllers, be more explicit in the name.

* Avoid colliding node names; make navigation dialog's node name generic

* Add the lifecycle controller

* Generalize the nav2_controller code.

The only nav2-specifics are now the list of node names.

* Some reformatting

* Rename the Srv service to be more explicit; Add description to the package XML file

* Address more review feedback

* Add the rviz panel and action-based goal tool

* Remove the non-button stuff in the nav2_panel (it will go into rqt instead)

* Use setRPY and toMsg instead of computing x,y,z,w

* Address some review feedback

* Fix a typo

* Address one more item from the code review

* Update and sort the dependency list
* Rename nav2_controller -> nav2_lifecycle_manager per review feedback

* Update nav2_util and nav2_tasks to support lifecycle nodes
* Add COLCON_IGNORE to those directories that don't build yet
* Should return the result of the service call rather than unconditionally returning true
* Update for ROS2 Actions
* Make some logging changes per review feedback

* Update the MissionExecutor for lifecycle nodes
* Adapt to naming changes in ROS2's goal_handle object
* Add the (unused) parameter names

* Enable BT Navigator for lifecycle nodes
* Address review feedback; adapt to latest ROS2 code; update to ROS2 actions

* Port the navfn global planner to lifecycle nodes
* Address review feedback; transition to ROS2 actions; update for latest ROS2 code

* Port the world model to lifecycle nodes
* Remove a couple stray printfs
* Address review feedback