Change publishers to publish unique ptrs#1673

Merged

SteveMacenski merged 8 commits intoros-navigation:masterfrom

Sarath18:feature_pub_unique_ptr

May 8, 2020

Commits on May 2, 2020

Change publishers to publish unique ptrs
Sarath18
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Commits on May 4, 2020

Commits on May 5, 2020

Commits on May 7, 2020

Commits on May 8, 2020

Integrate new changes from master
Sarath18
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