Fixes from ros 2 main

[ErikOrjehag]

Tried to separate out all of relox own modifications. It was possible to do for the nav2_controller package and
nav2_regulated_pure_pursuit_controller package. Also disabled the linter and auto formatter to not get a bunch of noop diff changes which are difficult to review.

But for the smac planner package we have here a mix of relox own modifications and changes coming from upstream when we once updated the package to get some upstream fixes to avoid costly areas better. That made it too difficult to separate things out so i just copied the entire folder from ros-2-main which also brought in a lot of linting and auto-formatting diffs, I don't think it's worth trying to undo the formatting. This PR branches out from the upstream galactic branch. When we move to humble, we need to try to rebase these changes on the humble branch, which will probably involve some manual labor and additional testing.

Here are all of our PRs relating to modifications in nav2 that I could find in ros-2-main:

=== nav2_controller ===

• fix already merged upstream: Bugfix tf lookup of goal pose in nav2_controller ros-navigation/navigation2#2780
• rate miss diagnostic: https://github.com/relox-robotics/ros-2-main/pull/474
• reset multiple rate misses: https://github.com/relox-robotics/ros-2-main/pull/672
• simple goal checker has left goal: https://github.com/relox-robotics/ros-2-main/pull/140

=== nav2_smac_planner ===

• exact start and goal: https://github.com/relox-robotics/ros-2-main/pull/110
• straight lines and optimizations: https://github.com/relox-robotics/ros-2-main/pull/202
• planning backwards lines: https://github.com/relox-robotics/ros-2-main/pull/311
• start and goal in same cell: https://github.com/relox-robotics/ros-2-main/pull/416
• bump smac planner version: https://github.com/relox-robotics/ros-2-main/pull/189

=== nav2_regulated_pure_pursuit_controller ===
blame: https://github.com/relox-robotics/ros-2-main/blame/main/src/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp#L364

• bugfixes: https://github.com/relox-robotics/ros-2-main/commit/9d8f7c515435e8fe5ec2b4910a281181f062b930
• diverging: https://github.com/relox-robotics/ros-2-main/pull/128
• overshoot: https://github.com/relox-robotics/ros-2-main/pull/523
• avoid skip ahead: https://github.com/relox-robotics/ros-2-main/pull/113
• pause navigation and speedup ramp: https://github.com/relox-robotics/ros-2-main/pull/309

[isactornberg]

As long as it's tested I trust it has the changes we need 😄