Gazebo Sim Migration & Navigation Improvements

[khaledgabr77]

1. Gazebo Sim Migration

• migrated from Gazebo Classic to Gazebo Sim (GZ)
• Update robot spawning system (spawn_robot.launch.py) to use ros_gz_sim
• Refactor robot reset functionality to use GZ service calls instead of ROS2 services
• Added new Gazebo Sim world files, models, and URDF configurations

2. Navigation System Enhancements

• Update Nav2 launch files to dynamically pass spawn pose parameters
• Improve Nav2 configuration with proper simulation time settings
• Update behavior trees to BTCPP format 4
• Create N new behavior tree templates for various planner-controller combinations

3. Code Improvements

• Fixe directory creation issues in CSV output paths
• Remove blocking Nav2 activation call for better startup flow
• Improve error handling in robot reset functionality
• Update package dependencies for Gazebo Sim support

4. Configuration Updates

• Update experiment configurations for ROS Jazzy
• Create new benchmark test configuration
• Update all file paths to match current workspace structure

[khaledgabr77]

#13