Feature/vector object server

[Sushant-Chavan]

This PR continues the work on the open but non-active PR #613

Minor cleanup and updates were made to refer to correspond to the changes in the feature PR

[SteveMacenski]

I will need to check back in on this after the software PR is made so I can check that they align, but some small things we can fix now!

Most of the requested changes are just language fixes

[ajtudela]

I'm not sure if this PR belongs here, as there is a new one related to the Vector Object Server in the author's branch: Sushant-Chavan/navigation2#2.

Could you please clarify, @Sushant-Chavan?

[SteveMacenski]

I asked a similar question in another thread 😉 His company is picking up this work as they intend to use it in a product which was the main reason this work kind of sputtered off on my end prior - we didn't have an end user that could really battle test it to make sure we didn't have glaring gaps and put some real miles on it before merging into Nav2 itself.

[Sushant-Chavan]

Hello @ajtudela & @SteveMacenski,

This is in preparation for an upcoming PR that will soon be created to the https://github.com/ros-navigation/navigation2. The PR on my fork is a temporary one to make sure most of the CI checks pass before opening a PR upstream. It also allows me to get an early feedback from my team.

I have to fix a few failing CI checks (DCO) before I can open the upstream PR. At that point, I will setup the correct PR references and mark this PR as ready for review :)

[SteveMacenski]

Small adjustments but largely approved! The content is complete, I think just some small shuffling needs to happen