Created new documentation for Navigation 2 with SLAM

* Making a transform (buffer) available on the behavior tree
blackboard for nodes to pull and use.
Updating `GoalReachedCondition` to use the blackboard provided tf.

* Removed unnecessary include

fix uncrustify

The entire system may involve other nodes launched from a launch file, including non-lifecycle nodes, nodes not managed by Lifecycle Manager, etc.

No commit message

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