[WIP] Merge develop/pr2-noetic branch

[knorth55]

this PR is for PR2 + Noetic internal branch.

moved from #1774 this PR is now split into PRs below;

Main changes

• [ ] #1342
• [ ] #1417
• [ ] #1491
• [ ] #1630
• [ ] #1657
• [ ] #1672
• [ ] #1691
• [ ] #1725
• [ ] #1754
• [ ] #1783
• [x] #1785

Upstream dependency

New package dependency

• https://github.com/knorth55/app_manager_utils
• https://github.com/knorth55/coral_usb_ros