Some of the packages used http://download.ros.org/schema/package_format2.xsd
that requires package format to be set to `2`, but package format was
set to 3 instead.

This change makes them consistent.  As a result linter for packages
won't compain on this error.  Version 3 picked up because it is superset of
version 2 with addition of optional fields.

fix broken build with nav2_costmap_world_model

adding client

tried uncrustrify reformatting

Revert "tried uncrustrify reformatting"

This reverts commit 921a71332f00284775bf7480e1b78624f35c92a9.

costmap2DROS working with callback and publisher, change to call parameters through node on static layer

setting parameters with rclcpp::Parameter, fixing plugin loading issues, setting libraries as shared

* removing boost foreach from amcl via iterators
* rename view iterator to be clear

address feedback, cleaning/simplifying code, added check for events, changed function name for getting event param or default

adding empty lines between CMakelist directives

changing function name

adding diagram

modifying diagram

made parameter client internal, modified for multiple clients, added static parameter check, modifed example node, callbacks added to all clients

add parameter client to DynamicParamClient, added cache map of parameters, passing all linters & tests

spacing/tab changes

addressed feedback, added template for addLayer, added stubbed footprint, passing all linters & uncrustify

replaced old costmap with costmap_2d in WorldModel

Port costmap2d buffer + tf_sensor_msgs local port 

Dockerfile update to fix build fails
Also build fixes for ROS2 master branches

Addressing lint error

Since we likely won't implement non-ROS robots, remove the abstract base class
and make the Robot class be a ROS robot. The Robot class will contain the functionality
common to all ROS robots. There can be derived classes that add functionality that is
not common to all ROS robots.

Also, since I'm modifying the SimpleNavigator, update the ROS log messages so that
they don't (redundantly) include the module name since it's already in the output.

Fixing small bug within AMCL: checking for the last laser message received when no message has been received at all.