Migrate to Ignition / TB4 simulation

[SteveMacenski]

We want to use the time in Humble to migrate to Ignition for Nav2 moving forward.

• [x] Migrate AWS warehouse world to Ignition
• [x] Provide TB4 simulation launch file (tb4_simulation_launch.py) for Ignition analog to TB3 for Gazebo using whatever standard launch file provided by TB4 (I believe its a warehouse)
• [x] Update simple commander examples to using Ignition with the AWS warehouse world migration
• [ ] Migrate system tests to using ignition with AWS warehouse world after https://github.com/ros-planning/navigation2/pull/2797 is merged
• [ ] Consider updating TB4 simulation launch examples to using the AWS warehouse world that the system tests and simple commander API uses. Or migrate all a different warehouse. Doesn't have to all be the same, but consider it.

[padhupradheep]

Additionally there are some more suggestions:

• Would be also nice to see an Omnidirectional robot part of the stack (will definitely be useful for people who wants to get started with something like MPPIC ).
• On my initial experience with the Ignition, I see that, Ignition messages already have namespaces in them, so it would be nice to remap the same to the ROS messages.
• Additional to above point, we can use single RViz for multi-robot viz and may be add a drop-down list to the navigation-plugin in RViz to handle it.

[SteveMacenski]

Those are not in the roadmap for just a migration, there are tickets already open for ackermann vehicle examples but we do not plan to support multiple robot platforms in the default bringup -- people can always modify the launch files for their own navigation system based on other robot systems.