Add XML/YAML launch file equivalents to Tf2 tutorials (backport #6031)

[mergify]

Description

Add XML/YAML launch file equivalents for intermediate Tf2 tutorials.

• Add XML and YAML equivalents for all Python launch files
• Update tutorial documentation with tabbed multi-format code examples

Fixes #6006

Did you use Generative AI?

Partially - Cursor AI Assistant for generating XML/YAML launch file equivalents and tutorial rephrasing. Each generated line reviewed.

Additional Information

• Launch files are scoped to pages under Tutorials/Intermediate/Tf2/ directory
• All launch file references in the Tf2 tutorial documentation have been updated

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  This is an automatic backport of pull request Add XML/YAML launch file equivalents to Tf2 tutorials #6031 done by Mergify.

[github-actions]

HTML artifacts: https://github.com/ros2/ros2_documentation/actions/runs/20988329323/artifacts/5123911662.

To view the resulting site:

1. Click on the above link to download the artifacts archive
2. Extract it
3. Open html-artifacts-6161/index.html in your favorite browser