Use opaque function to allow for remapping of scan topics #293
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Description
Remap scan topics when launching nav2 so that the costmaps subscribe to the correct scan topic and so that dynamic objects appear in the costmaps so that they are avoided.
Fixes #247.
Type of change
How Has This Been Tested?
Please describe the tests that you ran to verify your changes.
Simulated and then tested with a turtlebot4 lite to ensure that when running Nav2 + localization with and without namespacing, unmapped / dynamic obstacles appear in the costmaps and the robot avoids said obstacle. In simulation this can be done by inserting cubes / cylinders and with the real robot you can walk around the robot and observe the reactions.
Checklist