Update System test to use refactored launch files in nav2_bringup #1135
Description
Feature request
The system tests are using custom / duplicated launch files. We should refactor them to use the newly refactored launch files in nav2_bringup. This will have 2 benefits:
- Test the nav2_bringup_launch.py file itself
- Reduce launch file code duplication
Feature description
The main test_system_launch.py should include the nav2_bringup_launch.py for launching the nodes and only add the additional components such as gazebo and static_transform_publisher.
Implementation considerations
Ideally, I think the system test should also use the parameters file in the nav2_bringup package. See #813