Migrate current nav2 BT wrapper with small tweaks

[vicmassy]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(Closes #IssueNumber)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

---

How to run this PR feature

Run simulation

xhost +local:root
docker run -it --rm --net host --privileged --gpus all -e DISPLAY=$DISPLAY -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=graphics -e ROBOT_NAME=1 --mount type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix umdlife/umd-simulation-dev:latest roslaunch umd_simulation three_iris_mavros_sitl.launch

Run docker compose

version: "3.4"

services:
  bridge:
    container_name: bridge
    image: umdlife/umd-bridge:v2.0.4
    network_mode: host
    environment:
      ROS_DOMAIN_ID: 40
      NETWORK: local
    command: ros2 run ros1_bridge parameter_bridge /bridge_topics /bridge_service_1_to_2 /bridge_service_2_to_1
  copter100:
    container_name: copter100
    image: umdlife/umd-copter-dev:feat-bt-4.0-UP-1804
    network_mode: host
    environment:
      ROBOT_MODEL: iris
      ROBOT_ID: 100/sitl
      ROS_DOMAIN_ID: 40
      NETWORK: local
    command: ros2 launch umd_copter_bt px4_bt_navigator.launch.py run_mode:=sim
  mission:
    container_name: mission
    image: umdlife/umd-mission-dev:feat-bt-4.0-UP-1804
    network_mode: host
    environment:
      VPN: disable
      ROS_DOMAIN_ID: 40
      NETWORK: local
    command: ros2 launch umd_mission_core vienna_mission_core.launch.py run_sim:=true
  web:
    container_name: web
    image: umdlife/umd-web-dev:latest
    network_mode: host
    environment:
        ROS_DOMAIN_ID: 40
        NETWORK: local
        VPN: disable   

Open the interface in the browser and execute a mission. Interact with all the buttons to make sure it works as before.

Description of contribution in a few bullet points

• Migrate to BT 4.0
• Migrate to BT.ROS2 wrapper
• Use new base image umd_nav that includes both packages mentioned before
• Refactor BT plugins
• Removed mavros_msgs package from umd_interfaces in favor of the binaries

Related PRs

• https://github.com/umdlife/umd_copter/pull/284
• https://github.com/umdlife/umd_interfaces/pull/52
• Migrate current nav2 BT wrapper with small tweaks  #1
• https://github.com/umdlife/umd_libs/pull/45
• https://github.com/umdlife/umd_mission/pull/254
• https://github.com/umdlife/umd_nav/pull/1
• Remove deprecated files from UML navigation2#20

Description of documentation updates required from your changes

• From now on, use umdlife/umd-bridge:v2.0.4
• Documentation about the migration is here

---

Future work that may be required in bullet points

[sergigraum]

LGTM! We will then iterate over this baseline GJ! 🚀