Add nav stack for any robot being spawned

[francocipollone]

Notes

• The map is expected to be shared
• Configuration files will need to be modified in runtime to match the user-defined prefixes for the frames and topics.

[francocipollone]

For one robot

• [x] Add amcl node
• [ ] Add navigation

For multiple robot

• [ ] Add amcl node for each robot, mind ros and tfs prefixes.
• [ ] Add navigation