Jazzy changes for second edition of the book

Hello!

After checking all the packages, I'm leaving here the most important changes to make everything work.

Updated third_parties.repos to use tiago_harmonic branches.
Updated CI to work properly on jazzy.
Changed head speed for br2_tracking.
Updated tiago_navigation.launch.py to use slam_params_file and twist_stamper. Also added rviz parameter.
Updated navigation parameters.
Changed wp, map and test for br2_bt_patrolling.

I hope everything is working properly.

Regards.

fmrico / book_ros2