Refactor of 2624 for simplicity

[SteveMacenski]

#2624

[mergify]

This pull request is in conflict. Could you fix it @SteveMacenski?

[mergify]

@SteveMacenski, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• 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