Modify launch and config for multirobot simulation support. Add robot_complete launch

[jamendezib]

This pull request refactors the simulation bringup launch system to improve modularity and configurability, particularly for enabling or disabling the localization, navigation, and MoveIt stacks. It introduces a new robot_complete.launch.py launch file, moves the logic for launching robot-related stacks into this new file, and updates configuration files to use robot-specific frame and topic names via substitution variables. This improves support for multi-robot scenarios and makes the launch process more flexible.

Key changes include:

Launch System Refactoring and Modularity:

• Introduced a new robot_complete.launch.py file that encapsulates the logic for launching the robot, laser filters, localization, navigation, MoveIt, and RViz, with appropriate timers and launch conditions. The main bringup_complete.launch.py now delegates robot-related launching to this new file, simplifying its structure. [1] [2]
• Added launch arguments run_localization and run_navigation to both bringup_complete.launch.py and robot_complete.launch.py, allowing these stacks to be enabled or disabled via command line. [1] [2]

Configuration Improvements for Multi-Robot Support:

• Updated all relevant YAML configuration files for localization (amcl.yaml, slam_toolbox.yaml), navigation (behavior_server.yaml, bt_navigator.yaml, controller_server.yaml, planner_server.yaml), and topic/frame names to use $(var robot_id) substitutions. This ensures that all frames and topics are robot-specific, supporting multi-robot simulations without conflict. [1] [2] [3] [4] [5] [6] [7] [8]

Parameterization and Substitution Enhancements:

• Changed the way parameter files are loaded in the localization and mapping launch files to use ParameterFile with allow_substs=True, ensuring that substitution variables in YAML files are correctly processed at launch time. [1] [2] [3]
• Updated launch files to pass the correct robot-specific frame names to nodes (e.g., map server, SLAM toolbox) using launch substitutions.

These changes make the simulation bringup more maintainable, extensible, and robust for multi-robot and configurable scenarios.

References:
[1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [12] [13] [14] [15] [16]