Service to reinitialize global localization

[olmerg]

Description

This service make part of nav2_amcl which re-initialize the particle filter with a uniform distribution. This service interact with the parameter always_reset_initial_pose and the variable initial_pose_is_known_ which determine when to publish the estimated pose, the particles poses and the tf_broadcast. To make this possible it is required to divide map_callback, so here could be included the parameter first_map_only to reduce the tasks in 85.

To implement completely the functionality the initial_pose should be save over some states of lifecycle like on_cleanup and on_configure

Definition of done

• create the service
• create parameter always_reset_initial_pose
• create parameter first_map_only
• define when to publish data to ros with the flag initial_pose_is_known_
• implement how to save the initial pose during restart the node.

Additional considerations

[olmerg]

Implementing first_map_only is a good moment to solve the problem of TODO(@ivanpauno ): Initialize later maps from last known pose, but it is required to be possible to set the map in the particle filter