Add scan_topic launch argument

[civerachb-cpr]

All launch files (localization, slam, nav2) now support a scan_topic argument to override the 2d lidar input. By default this argument is blank, indicating that /{namespace}/sensors/lidar2d_0/scan should be used. If the argument is specified, we rewrite the necessary parameters to subscribe to the user's specified topic.

e.g. This robot.yaml

serial_number: a300-0000
version: 0
system:
  hosts:
    - hostname: cpr-albert
      ip: 127.0.0.1
  ros2:
    namespace: a300_0000
    domain_id: 42
    workspaces:
      - /home/robot/clearpath_common_ws/install/setup.bash
sensors:
  lidar3d:
    - model: velodyne_lidar
      urdf_enabled: true
      launch_enabled: true
      parent: base_link
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ros_parameters:
        velodyne_driver_node:
          frame_id: lidar3d_0_laser
          device_ip: 192.168.131.25
          port: 2368
          model: VLP16
        velodyne_transform_node:
          model: VLP16
          fixed_frame: lidar3d_0_laser
          target_frame: lidar3d_0_laser

does not have a 2d lidar, but does publish 2d scan data on .../sensors/lidar3d_0/scan. By launching the following, AMCL localization works in the simulator:

ros2 launch clearpath_gz simulation.launch.py
ros2 launch clearpath_nav2_demos localization.launch.py scan_topic:=/a300_0000/sensors/lidar3d_0/scan use_sim_time:=true
ros2 launch clearpath_nav2_demos nav2.launch.py scan_topic:=/a300_0000/sensors/lidar3d_0/scan use_sim_time:=true
ros2 launch clearpath_viz view_navigation.launch.py namespace:=/a300_0000 use_sim_time:=true

or for SLAM:

ros2 launch clearpath_gz simulation.launch.py
ros2 launch clearpath_nav2_demos slam.launch.py scan_topic:=/a300_0000/sensors/lidar3d_0/scan use_sim_time:=true
ros2 launch clearpath_nav2_demos nav2.launch.py scan_topic:=/a300_0000/sensors/lidar3d_0/scan use_sim_time:=true
ros2 launch clearpath_viz view_navigation.launch.py namespace:=/a300_0000 use_sim_time:=true

[mergify]

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