Migrate TransformBroadcaster to use shared_ptr

[leander-dsouza]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Fixes the system_build job
Primary OS tested on	Ubuntu
Robotic platform tested on	N/A
Does this PR contain AI-generated software?	No
Was this PR description generated by AI software?	No

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Description of contribution in a few bullet points

• Migrated to use the heap allocation over stack due to the new NodeInterfaces API for TransformBroadcaster enforced in ros2/geometry2.

Description of documentation updates required from your changes

• N/A

Description of how this change was tested

• The local build of nav2_route now passes locally - colcon build --packages-select nav2_route.

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Future work that may be required in bullet points

• N/A

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

[SteveMacenski]

For Kilted/Jazzy support these should be #ifdef ed like the other TF message filter work for API changes so we can support all on the branch

[SteveMacenski]

Why do these seem to work?

• navigation2/nav2_util/src/base_footprint_publisher.hpp

  Line 51 in a25b67e

  tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node);

• navigation2/nav2_amcl/src/amcl_node.cpp

  Line 1343 in a25b67e

  tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(shared_from_this());

Maybe just needs node->shared_from_this()?

[leander-dsouza]

Why do these seem to work?

• navigation2/nav2_util/src/base_footprint_publisher.hpp

  Line 51 in a25b67e

  tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node);

Apologies for the oversight. We can use this approach instead of the stack allocation earlier.