Draft: Added GoalUpdatedController BT plugin node (backport #3044)

[mergify]

This is an automatic backport of pull request #3044 done by Mergify.
Cherry-pick of 28d16ab has failed:

On branch mergify/bp/galactic/pr-3044
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Changes to be committed:
	modified:   nav2_behavior_tree/CMakeLists.txt
	new file:   nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp
	new file:   nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp
	new file:   nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp
	modified:   nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
	modified:   nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
	modified:   nav2_bringup/bringup/params/nav2_params.yaml
	new file:   nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml
	modified:   nav2_bt_navigator/src/bt_navigator.cpp
	modified:   nav2_system_tests/src/costmap_filters/keepout_params.yaml
	modified:   nav2_system_tests/src/costmap_filters/speed_global_params.yaml
	modified:   nav2_system_tests/src/costmap_filters/speed_local_params.yaml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   nav2_behavior_tree/nav2_tree_nodes.xml
	both modified:   nav2_behavior_tree/test/plugins/decorator/CMakeLists.txt

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[mergify]

@mergify[bot], all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @galactic, but it must be in main
to have these changes reflected into new distributions.

[mergify]

@mergify[bot], 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 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