Create Nav2 package, configurations, and tuning

[SteveMacenski]

• [x] Nav2 package
• [x] Check generally working, launch params, frames (even if suboptimal)
• [x] Nav2 daemon
• [x] Nav2 launch files (prob need bringup for custom localization / slam options for 3D)
• [x] Nav2 use humble or main from source?
• [x] SLAM Toolbox configs separate from nav2
• [x] Refine odometry: use fancy IMU's orientation, no accel, no yaw wheels, no built-in IMU, covar improve wheels/IMU1
• [x] Scan: why not seeing chair? heights too high for min? Or just use Scan for localization, PC2 for navigation.
• [x] Nav2 configs & tuned: Remaining: collision monitor (base bringup?)
• [x] Validate costmap configs / sensor data coming out
• [x] conservative footprint / padding
• [x] inflation
• [x] Test sim works too
• [x] Weird frame issues -- fucking IMU? odom fusion? map->odom? odom->base_link? Competing publishers.
• [x] Transform timeout extrapoloations
• [x] Sensor noise: laser filters, voxelization, decimation, removing salt/pepper, etc
• [x] STVL for 3D lidar
• [x] 2D laser scan from 3D lidar use to start?
• [x] Local odometry navigation option

[SteveMacenski]

Next:

• https://github.com/open-navigation/opennav_amd_demos/issues/24
• https://github.com/open-navigation/opennav_amd_demos/issues/21 outside test
• https://github.com/open-navigation/opennav_amd_demos/issues/31