Update for mini_pupper_navigation

[Hermanye996]

Proposed changes

I have adjusted the cartographer slam.lua configuration with @0nhc, the base frame is /base_link now. And the map for localization is mymap.pbstream which will be stored in /home directory if the user follows the new README.

These changes will make the navigation available on a real mini pupper.

Types of changes

• [X] Bug fix (non-breaking change which fixes an issue)
• [ ] New feature (non-breaking change which adds functionality)
• [ ] Code refactor (non-breaking change which refactors the code)
• [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• [ ] Documentation update only
• [ ] Other (please describe)

Testing and Verification

To verify these changes, I performed the following tests:

1. Run the bringup launch file on Mini Pupper.
2. Run SLAM with a keyboard.
3. Save the map.
4. Run localization.
5. Run Navigation. for more information, check the new README.

Test Configuration

Mini Pupper Version
Mini Pupper

Raspberry Pi OS + ROS version
Ubuntu 22.04, ROS 2 Humble

PC OS + ROS version
Ubuntu 22.04, ROS 2 Humble

Checklist

• [X] I have read the CONTRIBUTING guidelines.
• [X] I have checked to ensure there aren't other open Pull Requests for the same change.

[Tiryoh]

Thanks @Hermanye996 Could you run the following command to clarify the differences?

git checkout ros2_update_navigation
git revert 0c5bb5d
git revert 10fa184
git revert 03312f3
git push origin ros2_update_navigation

[Hermanye996]

Thanks @Hermanye996 Could you run the following command to clarify the differences?

git checkout ros2_update_navigation
git revert 0c5bb5d
git revert 10fa184
git revert 03312f3
git push origin ros2_update_navigation

0c5bb5d & 10fa184 & 03312f3 have been deleted, this case was due to dependencies between multiple packages in update_branch_repos, thanks. @Tiryoh