In the future, there can be some error recovery here.

Using coroutines results in a race condition where the result of an action
was occasionally missed.

* ported goalReachedCondition and isLocalized to lifecycle

This reverts commit 3b8d02f5f94dabff2e3b34a80da9c76d670b8645.

* 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