Fleet navigation ROS 2 package and assets

[pijaro]

Ros2FleetRobotTemplate update.

A fleet navigation ROS 2 package was added to the template. It is based on nav2_bringup package.

Navigation with AMCL for multiple robots.

Assumes that the namespace spawning is implemented (#444).

Zip archive will be added after the review:

• Zip archive updated.

[adamdbrw]

Looks good, we need someone to test the instructions

[lewandowskikacper]

Params are not copied correctly during project creation from this template (humble and iron subdirectories are not copied). This causes a crash when launching o3de_fleet_nav_launch.py as in the instruction.

[INFO] [launch]: Default logging verbosity is set to INFO
ReplaceString substitution error:  [Errno 2] No such file or directory: '/home/kacper/projects/FleetNavigation/Examples/ros2_ws/install/o3de_fleet_nav/share/o3de_fleet_nav/params/humble/nav2_multirobot_params.yaml'
[ERROR] [launch]: Caught exception in launch (see debug for traceback): local variable 'input_file' referenced before assignment

Copying the files from ~/o3de-extras/Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/params/ to ~/projects/FleetNavigation/Examples/ros2_ws/src/o3de_fleet_nav/params/ fixes that.

Possibly, those files should be included in template.json?

[lewandowskikacper]

I created a project from this template and run it (on humble).
Apart from the problems listed above, the project and example run as expected.

Some comment about map creation could be useful (how to update it, when the warehouse is modified).

[adamdbrw]

@lewandowskikacper @pijaro are all issues resolved?

[pijaro]

Review applied.

As for the map creation, we can go with a new issue and work on slam/map building example 👍

[michalpelka]

Tested and reviewed. Please merge #444 ASAP.

[michalpelka]

rebased