Adds peak_finder package for optimization project

[barulicm]

This PR...

• Adds the peak_finder package & node The peak_finder node provides the /park_at_peak action that encapsulates the optimization project
• Adds optimization project launch file This launch file serves as the entry point for the optimization project. The idea is the students will use this launch file to bring everything up and then can trigger the behavior by sending a goal to the /park_at_peak action from a second terminal. This launch file also brings up rviz with a display layout that includes the elevation map visualization.
• Reconfigures nav stack param file to use new custom plugins from STSL
• Style fixes to get everything passing the linting tests again

Demo video:

[barulicm]

I've definitely been waiting to define the student code on several of these until later, partly because I don't actually know which parts will end up being student code yet. (need to cross reference C++ / ROS topic lists when converting them to exercises).