adding server config for each action

[GPrathap]

What type of PR is this? (check all applicable)

• [ ] Refactor
• [x] Feature
• [ ] Bug Fix
• [ ] Optimization
• [ ] Documentation Update

Description

For each selected action type, it is possible to set the corresponding nav2 control server parameters

[marc-hanheide]

@GPrathap I have fixed the CI workflows (in #177) and merged them into this PR to see if it works now.