Auto Capstone: Migrate Sim to Rover

[0xrd1]

Get basic mapping and nav running on the actual rover:

• Migrate sim launch file to nav_autonomy launch.
• Migrate topics and tf frames.
• Bringup mapping & nav2 nodes with rover2_main.
• odom published on /odom
• map, obstacle, ground published (rtab)
• nav2 subscribes to obstacles, ground, and finds map -> base_link
• try rviz waypoints