Fix memory leak (ros-navigation#1900)

* Fix memory leak in nav2_recoveries

* Fix recovery server memory leak (better interface)

* Fix costmap2d memory leak

* Fix nav2_navfn_planner memory leak

* Fix planner server and navfn planner memory leak

* Make all rclcpp::Node::SharedPtr argument passing const

* Fix controller server and DWB plugins memory leak

* Minor fixes

* Fix formatting errors

* Change all plugin interfaces to use weak_ptr intead of shared_ptr to parent rclcpp::Node

* Convert all SharedPtr to WeakPtr

* Check shared_ptr after lock and before dereferencing

Author: naiveHobo

nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml

@@ -69,6 +69,8 @@ bt_navigator:
     - 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_transform_available_condition_bt_node

nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml

@@ -69,6 +69,8 @@ bt_navigator:
     - 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_transform_available_condition_bt_node