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

* 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.