Adding Costmap filters to system tests and cleaning up old gazebo cla…

…ssic files (#4502)

* removing old files

* removing old refs to gazebo classic

* porting test body

* including in root

nav2_system_tests/CMakeLists.txt

@@ -18,7 +18,6 @@ find_package(visualization_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
-# find_package(gazebo_ros_pkgs REQUIRED) Remove/Replace after https://github.com/ros-navigation/navigation2/pull/3634
 find_package(nav2_amcl REQUIRED)
 find_package(nav2_lifecycle_manager REQUIRED)
 find_package(rclpy REQUIRED)
@@ -42,7 +41,6 @@ set(dependencies
   nav2_amcl
   nav2_lifecycle_manager
   nav2_behavior_tree
-#   gazebo_ros_pkgs Remove/Replace after https://github.com/ros-navigation/navigation2/pull/3634
   geometry_msgs
   std_msgs
   tf2_geometry_msgs
@@ -126,7 +124,7 @@ if(BUILD_TESTING)
   # add_subdirectory(src/behaviors/backup)
   # add_subdirectory(src/behaviors/drive_on_heading)
   add_subdirectory(src/behaviors/assisted_teleop)
-  # add_subdirectory(src/costmap_filters)
+  add_subdirectory(src/costmap_filters)
   add_subdirectory(src/error_codes)
   install(DIRECTORY maps models DESTINATION share/${PROJECT_NAME})