ROS2 launcher system

[KushnirDmytro]

I've tried to start development of Turtlebot4 model "from scratch" and "based on the use case"
The idea was to find the source of simulation performance bug somewhere in the simulation bring up sequence.
In the result I've spent tone of time working on all the primitives and classes required for the deployment (here the issues are mostly related to the VPP-interface specific problems)

But also there are several concepts where I am missing the guidelines at all:

• On example of this launcher: https://github.com/turtlebot/turtlebot4_simulator/blob/jazzy/turtlebot4_gz_bringup/launch/turtlebot4_spawn.launch.py
  -- Concept of GroupAction
• On example of this one: https://github.com/iRobotEducation/create3_sim/blob/jazzy/irobot_create_gz/irobot_create_gz_bringup/launch/sim.launch.py
  -- Issue with the global system state that is being changed during the call of one of the sub-launchers
  

... and few other issues

As the result -- fixed bug before the model creation, and now back on track with model development

[KushnirDmytro]

Here is the example of introspected running 'all-sails' turtlbebot4 system launched via the

ros2 launch turtlebot4_gz_bringup turtlebot4_gz.launch.py \ 
             slam:=true\
             nav2:=true \
             rviz:=true

All modes of introspection snapshot are here:
turtlebot4_with_nav2.zip

[KushnirDmytro]

Note: can be done as POC example for the AdaptableMeROS perspective

@twiniars, can you create an Overleaf project for this, please? (as MeROS domain owner)

• Make a plan for paper and propose problems coverage: @KushnirDmytro