Backport/wait for server timeout

[bektaskemal]

Backports #3960 and #4178 to iron.

We would like to have this on iron if possible.

[mergify]

@bektaskemal, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @iron, but it must be in main
to have these changes reflected into new distributions.

[SteveMacenski]

This seems fine to me. Please run the full colcon test on Nav2 (including system tests) and make sure everything comes out passing. Iron's CI isn't setup correctly for this. If so, then I can merge this.

[bektaskemal]

I tested locally and two test failed for me but they seems irrelevant:

navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:75: Failure
Expected equality of these values:
  bt_node_->executeTick()
    Which is: FAILURE
  BT::NodeStatus::RUNNING
    Which is: RUNNING
/home/kemalbektas/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:77: Failure
Expected equality of these values:
  bt_node_->executeTick()
    Which is: FAILURE
  BT::NodeStatus::SUCCESS
    Which is: SUCCESS

This one might be related to behaviortree_cpp_v3 version but I'm not sure.

[tester_node-17] [INFO] [1713261931.235650522] [nav2_gps_waypoint_tester]: Goal failed to process all waypoints, missed 1 wps.
23: [tester_node-17] Traceback (most recent call last):
23: [tester_node-17]   File "/home/kemalbektas/navigation2/nav2_system_tests/src/gps_navigation/tester.py", line 222, in <module>
23: [tester_node-17]     main()
23: [tester_node-17]   File "/home/kemalbektas/navigation2/nav2_system_tests/src/gps_navigation/tester.py", line 187, in main
23: [tester_node-17]     ComputePathToPose.Result().GOAL_OUTSIDE_MAP
23: [tester_node-17] AttributeError: 'ComputePathToPose_Result' object has no attribute 'GOAL_OUTSIDE_MAP'

Here is the issue that error codes are in Goal and not Result, but this is wrong in iron branch: https://github.com/ros-planning/navigation2/blob/iron/nav2_system_tests/src/gps_navigation/tester.py#L187