To make the checksum output easier to read, trace and debug.

Otherwise the checksum.txt for the overlay is improperly copied from `/opt/ros_ws` instead of `/opt/underlay_ws`.

fix uncrustify

The entire system may involve other nodes launched from a launch file, including non-lifecycle nodes, nodes not managed by Lifecycle Manager, etc.

No commit message

Colcon mixin now installed from base image

Fix params file path for nav2_params in the system tests

Cache per packge.xml via multistage build

* Refactored launch files including fixes for
launching TB3 in simulation.

Update lifecycle_manager_client.cpp

Fix build error under clang:
```
--- stderr: nav2_lifecycle_manager                                                                                                
/opt/ros/master/src/ros-planning/navigation2/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp:149:5: error: cannot pass object of non-trivial type 'std::string' (aka 'basic_string<char>') through variadic function; call will abort at runtime [-Wnon-pod-varargs]
    service_name_);
    ^
/opt/ros/master/src/ros-planning/navigation2/nav2_lifecycle_manager/src/lifecycle_manager_client.cpp:160:5: error: cannot pass object of non-trivial type 'std::string' (aka 'basic_string<char>') through variadic function; call will abort at runtime [-Wnon-pod-varargs]
    service_name_);
    ^
2 errors generated.
```