Move unmerged changes from #2375 into main

[nkalupahana]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Requested change from PR #2375
Primary OS tested on	macOS
Robotic platform tested on	N/A

---

Description of contribution in a few bullet points

Moves changes from PR #2375 that haven't been fixed in the past into main.

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 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