Revert "adding base footprint publisher to nav2_util (ros-navigation#3860)" (ros-navigation#3994)

This reverts commit cefce2c.

Author: SteveMacenski

nav2_util/include/nav2_util/base_footprint_publisher.hpp

@@ -28,11 +28,6 @@ add_executable(lifecycle_bringup
 )
 target_link_libraries(lifecycle_bringup ${library_name})
 
-add_executable(base_footprint_publisher
-  base_footprint_publisher.cpp
-)
-target_link_libraries(base_footprint_publisher ${library_name})
-
 find_package(Boost REQUIRED COMPONENTS program_options)
 
 install(TARGETS