deprecating C API for TF2 and fixing test failures

[SteveMacenski]

Supersedes #4732

There's an issue still yet where an erroneous collision is being detected in the rotation shim controller, but the other errors are handled. It was fixed temporarily by moving the origin of the costmap to -2.5, -2.5 for a 5x5m window, but caused other tests that rely on that default to fail. I need to investigate why this is failing now and if only moving the origin is the right choice.

Fully resolved :-)

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
nav2_amcl/src/amcl_node.cpp	70.65% <ø> (ø)
...ee/include/nav2_behavior_tree/ros_topic_logger.hpp	100.00% <ø> (ø)
...lugins/action/remove_in_collision_goals_action.cpp	87.09% <ø> (ø)
...tree/plugins/action/truncate_path_local_action.cpp	100.00% <ø> (ø)
...lugins/condition/transform_available_condition.cpp	92.00% <ø> (ø)
...ehaviors/include/nav2_behaviors/timed_behavior.hpp	98.88% <ø> (ø)
nav2_behaviors/plugins/spin.cpp	90.24% <ø> (ø)
nav2_collision_monitor/src/pointcloud.cpp	94.44% <ø> (ø)
nav2_collision_monitor/src/polygon.cpp	97.38% <ø> (ø)
nav2_collision_monitor/src/polygon_source.cpp	94.82% <ø> (ø)
... and 27 more

... and 6 files with indirect coverage changes