Add read_only_blockade adapter

[mxgrey]

This PR introduces the read_only_blockade fleet adapter which is an improved version of the old read_only adapter. The API for integrating with read_only_blockade is different from the API for integrating with read_only so I'm keeping them as separate adapters for the sake of backwards compatibility.

This PR also includes a few tweaks that made performance and behavior more reliable for DP3.

[Yadunund]

Left a couple of minor comments.
Should we also update the descriptions in the launch file to let users know of the read_only_blocade node?

rmf_ros2/rmf_fleet_adapter/launch/fleet_adapter.launch.xml

Lines 7 to 12 in 9078eff

	<arg name="control_type" description="Fleet adapter type: full_control or read_only"/>
	<arg name="fleet_name" description="Name of the fleet that this adapter will interface with"/>
	<!-- Note: We give a blank default to nav_graph_file because it is not required for read_only
	mode. However it is still required for full_control mode.
	TODO(MXG): Investigate if there is a better way to handle conditionally required arguments. -->
	<arg name="nav_graph_file" default="" description="The file path of this fleet's navigation graph"/>

[mxgrey]

Should we also update the descriptions in the launch file to let users know of the read_only_blocade node?

Great point! Added: 68b8bcd

[mxgrey]

Good catch! Fixed: 06c0faa

[Yadunund]

uncrustify failing 💀

[codecov]

Codecov Report

Merging #110 (e2ea83f) into main (0a4fd20) will decrease coverage by 0.51%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #110      +/-   ##
==========================================
- Coverage   21.97%   21.46%   -0.52%     
==========================================
  Files         414      840     +426     
  Lines       33086    67760   +34674     
  Branches    16022    32252   +16230     
==========================================
+ Hits         7271    14542    +7271     
- Misses      18008    37554   +19546     
- Partials     7807    15664    +7857     

Flag	Coverage Δ
tests	21.46% <ø> (-0.52%)	⬇️

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Impacted Files	Coverage Δ
...-4.1.0/Rx/v2/src/rxcpp/schedulers/rx-newthread.hpp
...apter/src/rmf_fleet_adapter/phases/RxOperators.hpp
...er/src/rmf_fleet_adapter/phases/ResponsiveWait.cpp
...-4.1.0/Rx/v2/src/rxcpp/operators/rx-start_with.hpp
...2/rmf_fleet_adapter_python/src/planner/planner.cpp
.../rmf_ros2/rmf_fleet_adapter/src/read_only/main.cpp
.../rmf_fleet_adapter/rmf_rxcpp/examples/PlanPath.cpp
..._adapter/src/rmf_fleet_adapter/phases/DoorOpen.cpp
...er/src/rmf_fleet_adapter/phases/ResponsiveWait.hpp
...leet_adapter/test/mock/MockTrafficLightCommand.hpp
... and 1244 more