* Move the temporary lifecycle headers to nav2_util

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

* Minor patch-up after rebasing and testing

* update node options function rename

* disable tests temporarily

* updated the bt-navigator to stop path planning after reaching the goal

* updated navigate w recovery tree to work with updated ratecontroller

* changed parallel to replanning

* renammed recovery tree

* deleted unnecessary trees

* modified auto-localization tree

* fixed a bug in isLocalized

* deleted auto-localization tree

* fixed uncrustify

* fixed the rebasing problem

This reverts commit e4452eb04002e71d801c5b87abb1e7866bdd550c.

* updated the bt-navigator to stop path planning after reaching the goal

* updated navigate w recovery tree to work with updated ratecontroller

* changed parallel to replanning

* renammed recovery tree

* deleted unnecessary trees

* modified auto-localization tree

* fixed a bug in isLocalized

* deleted auto-localization tree

Added a custom launch substitution to modify YAML parameters based on launch params - lifecycle version (#771)

* Initial version copied from old code

* Code now installs

You can `import nav2_common.launch.rewritten_yaml` now.

* Bring RewrittenYaml class into launch scope like other launch packages do

This lets you say:
`from nav2_common.launch import RewrittenYaml`
instead of
`from nav2_common.launch.rewritten_yaml import RewrittenYaml`

* Add support for converting strings to non-string values in YAML

By the time RewrittenYaml gets the rewrite values, they've already been
resolved to strings. This is a problem for use_sim_time because the
code only accepts bools. To work around this RewrritenYaml has an option
to convert all values to an actual type.

* Add dependency in nav2_bringup package so it doesn't get forgotten.

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.