Improve startup time

[lukicdarkoo]

Pokretanje aplikacije na Raspberry Pi je sporo, moramo ubrzati. Vjerujem da brzinu pokretanje aplikacije najvise utice broj ROS cvorova, broj akcionih servera, Python implementacije i broj procesa. Evo prijedloga:

	ROS cvorovi	Akcioni serveri	Python	Procesi	Ostalo
Obrisati distance angle kontroler (integrisati u RPP)	-1	-1		-1
Integrisati laser scan republisher u costmap plugin	-1			-1	smanjuje se slanje velikih poruka
Integrisati Dynamixel drajver u ros2_control	-1	-7		-1
Nav2 composition				-6
Integrisati cinc drajver u ros2_control	-1		-1	-1
Integrisati drajver za pumpe u ros2_control	-1	-4	-1	-1
Prebaciti LCD drajver u C++			-1
Ukupno	-5	-12	-3	-11

(pretpostavka da robot ima 8 Dynamixel motora i 4 vakum pumpe)
(pumpe prebaciti u servise)

Dodatno, uraditi review nav2 plugina koje koristimo:

mep3/mep3_navigation/params/nav2_params_big.yaml

Lines 16 to 47 in 8092a04

	- nav2_compute_path_to_pose_action_bt_node
	- nav2_compute_path_through_poses_action_bt_node
	- nav2_follow_path_action_bt_node
	- nav2_back_up_action_bt_node
	- nav2_spin_action_bt_node
	- nav2_wait_action_bt_node
	- nav2_clear_costmap_service_bt_node
	- nav2_is_stuck_condition_bt_node
	- nav2_goal_reached_condition_bt_node
	- nav2_goal_updated_condition_bt_node
	- nav2_initial_pose_received_condition_bt_node
	- nav2_reinitialize_global_localization_service_bt_node
	- nav2_rate_controller_bt_node
	- nav2_distance_controller_bt_node
	- nav2_speed_controller_bt_node
	- nav2_truncate_path_action_bt_node
	- nav2_goal_updater_node_bt_node
	- nav2_recovery_node_bt_node
	- nav2_pipeline_sequence_bt_node
	- nav2_round_robin_node_bt_node
	- nav2_transform_available_condition_bt_node
	- nav2_time_expired_condition_bt_node
	- nav2_distance_traveled_condition_bt_node
	- nav2_single_trigger_bt_node
	- nav2_is_battery_low_condition_bt_node
	- nav2_navigate_through_poses_action_bt_node
	- nav2_navigate_to_pose_action_bt_node
	- nav2_remove_passed_goals_action_bt_node
	- nav2_planner_selector_bt_node
	- nav2_controller_selector_bt_node
	- nav2_goal_checker_selector_bt_node
	- nav2_globally_updated_goal_condition_bt_node

Dosta tih plugina vjerujem da ne koristimo, a potencijalno kreiraju akcione klijente/servere. Recimo, Spin plugin je ucitan i kreira akcioni server, a ne koristimo ga.