Kilted to L-turtle

Moving from ROS 2 Kilted to L-Turtle, a number of stability improvements were added that we will not specifically address here.

Removed Parameter action_server_result_timeout

Removed the parameter action_server_result_timeout from all action servers after resolution within rcl and rclcpp to address early goal removal. This is not longer required to be set.

Added Corner Smoothing functionality to route_server

In PR #5226 the ability to stitch two successive edges in route_server with a smooth circular arc has been added. Below is an example of two successive edges forming a corner being smoothed with a radius of one. The red lines are the edges of the route graph and the green line is the resultant path that can be used by a local planner.

New parameters include smooth_corners which enable or disable corner smoothing and smoothing_radius which specifies the radius of the corner to fit to a corner. The tangents of the starting and ending points of the circular arc will match the tangent of the edges that form the corner. In the event that two edges are basically straight, no corner arc is added and regular linear interpolation is done. In addition to that, if the corner arc requires a starting point and ending point that’s longer than the edge lengths, then it will not add a corner arc.