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Add layered global map composition and Nav2 observation demo - #1

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SamuelFoo wants to merge 15 commits into
epic/next-gen-basefrom
feat/layered-global-map
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Add layered global map composition and Nav2 observation demo#1
SamuelFoo wants to merge 15 commits into
epic/next-gen-basefrom
feat/layered-global-map

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