Now that lifecycle nodes properly support use_sim_time, we can get the
current time from the node itself rather than relying on the rclcpp_node,
which is a temporary bridging solution to interface to ROS2 functionality
that doesn't yet support lifecycle nodes.  This PR is one of several steps
that we'll take in order to remove the rclcpp_nodes from the navigation
code, thereby reducing the overall number of nodes in the system and
therefore the overall number of topics and services.

We don't yet have a full solution for bringing nodes into a state where
their parameters can be reconfigured and then the nodes reactivated. So,
we don't want to expose a partial solution for the Dashing release that
could potentiall be confusing for users.

Currently, all lifecycle node parameters are read during on_configure.
Going forward, we will re-assess all parameters to allow for other
options, such as on_activate. Once parameters are associated with different
state transitions, we'll then have to clearly document the parameters and
their state associations and/or come up with an automated way to allow for
node reconfiguration.

Also checked bt_navigator and nav2_robot, which are clean.

This functionality will be removed from the nav2 repository and eventually
revived in a separate repository. The plan is to separate out the generic
Behavior Tree functionality first into a separate repo and then we can
build a mission execution system using this generic BT functionality,
also in a separate repo. Then, we will be able to span navigation,
grasping, and other kinds of tasks, all coordinated using BTs.

after halting a bt action node

* Add an all-in-one launch file for nav2 developers

* Add an option to specify the rviz config file

* Fix some errors found by Carl in review

* re-enabling obstacle, inflation, and footprint tests

* remove static tests, redesign footprint_tests without Costmap2DROS

* passing linters and uncrustify

* replace for_each with for loop

check and resize planner costmap array

clean up

* 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

add back blank line

* Move the temporary lifecycle headers to nav2_util

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

* Minor patch-up after rebasing and testing