Aadding base footprint publisher to nav2_util

[SteveMacenski]

Reverts ros-planning/navigation2#3994

To be merged once a new release of rolling adds geometry_msgs 0.34.0

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 89.74359% with 4 lines in your changes are missing coverage. Please review.

Project coverage is 89.63%. Comparing base (677e6ac) to head (64a3614).

Files	Patch %	Lines
nav2_util/src/base_footprint_publisher.cpp	0.00%	4 Missing :warning:

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3995      +/-   ##
==========================================
- Coverage   89.87%   89.63%   -0.24%     
==========================================
  Files         432      434       +2     
  Lines       19660    19699      +39     
==========================================
- Hits        17670    17658      -12     
- Misses       1990     2041      +51     

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[mergify[bot]]

This pull request is in conflict. Could you fix it @SteveMacenski?