cherry-pick into Iron: fix multi-bugs casued by `costmap_ros_`'s early shutdown

[GoesM]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4436 #4437 #4438 #4464 #4466 #4468
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

pull changes from main into iron

Future work that may be required in bullet points

For Maintainers:

• [ ] Check that any new parameters added are updated in docs.nav2.org
• [ ] Check that any significant change is added to the migration guide
• [ ] Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• [ ] Check that any new functions have Doxygen added
• [ ] Check that any new features have test coverage
• [ ] Check that any new plugins is added to the plugins page
• [ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify[bot]]

@GoesM, all pull requests must be targeted towards the main development branch. Once merged into main, it is possible to backport to @iron, but it must be in main to have these changes reflected into new distributions.