simplify cartographer interface, support using ros or not(cartographer 算法的极度简化接口实现，能自行修改选择是否使用ros)

Complete implementation of custom Dijkstra path planning algorithm as Nav2 plugin. Built from ground up in C++ with pluginlib integration, costmap-aware path generation, and Nav2 GlobalPlanner interface. Includes SLAM with Cartographer, AMCL localization, and DWB local planning.

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Web-based navigation interface for ROS 2 Fastbot robots, featuring real-time 3D/2D visualization, goal setting, camera streaming, and integration with Nav2, Cartographer SLAM, and rosbridge_suite.