Provide option/example to launch nav2 as composed nodes

[orduno]

Feature request

Feature description

As described by the title, provide the capability to launch the stack as a composition of nodes.

In general, we have to:

• Register the nodes as components Register nodes as components + launch files to use component container #1013
• Use the components to run the stack. Define which option to use and implement.

Implementation considerations

[bpwilcox]

duplicate of #1013?

[orduno]

duplicate of #1013?

I don't think it's a duplicate. If I understand correctly, it's at least a two-step process. I've updated the ticket.

[SteveMacenski]

I'd consider it one ticket since you really wouldn't know if you did it right without making the launch file to test

regardless, +1000. In the near future I have to finish porting image_pipeline to ROS2 + components so I'll be watching closely to take your lead.

[SteveMacenski]

#1013 Closing in favor of a single component feature request ticker