* changing behavior tree to use snake_case actions

* correct action servers not related to recovery

* resolve recovery server plugin names with action server names

* changing references from local planner to controller outside of DWB

* change minimum in DWB planner to be controllers

* Update nav2_core/include/nav2_core/controller.hpp

Co-Authored-By: bpwilcox <bpwilcox@eng.ucsd.edu>

* cleanup all globally hardcoded remaps for multirobots

* fixing map path

* fix pep8 indent

* linter happy now?

* Fix linter errors

* reincluding /scan on scan

* multirobot launch with unique configurations

* multirobot tests using both configuration files

* make flake8 happy

* flake8 try2

* flakey9

* flake10

* attempt flake exception

* flake11

* flake12

* noqa on lin

* changing launch configuration in loop

fix lint

* Extending `rewritten_yaml` to also replace keys.

* Adding a node launcher that puts a condition to
applying the remappings.

* Add namespacing of launch files.

* Update namespace of costmap and passing of correct
namespace by planner & controller.

* Add back parameter to configure DWA rate

* Report out if we missed our control loop time.

serverIsActive to is_server_active

deleting robot package

Extended the SimpleActionServer interface and improved a few other things:
* Added additional checks to make sure we only keep the latest preempt request in the queue.
* Action server users no longer interact directly with the goal handles. 
* Provided additional functions for aborting, canceling, etc.
* Updated bt_navigator, motion_primitives, dwb_controller, navfn_planner to use the new interface.

Refactored the DWB controller main loop.
* Added checks for handling pending preemptions after the controller has succeeded or failed.

* Precise control of the contained node to improve shutdown reliability

* Add a couple TODO comments about further reducing code, eliminating duplication

* removing recovery test tree

* changed amcl to publish pose only when initial pose is known

* update transform only when initial pose is known

* fixed linter issues

* print when amcl does not publishes a pose

* changed publishing velocity msg from rclcpp_info to rclcpp_debug

* fixed uncrustify

* removed unused variable

* deleted unused code

* disabled localization test

* Move the temporary lifecycle headers to nav2_util

* Also update the package.xml and CMakeList.txt files

* Minor patch-up after rebasing and testing

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