[backport] Fixes for flaky WPF test (#3784)

[RBT22]

• Fixes for flaky WPF test:

• New RewrittenYaml ability to add non-existing parameters

• Prune distance fix for WPF test

• Treat UNKNOWN status as error in WPF

• Clear error codes after BT run

• Remove unnecessary setInitialPose() from WPF test

• Update nav2_waypoint_follower/src/waypoint_follower.cpp

• Clean error code in any situation

• Fix UNKNOWN WPF status handling

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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