Use nav2's `waypoint_follower`

[logbasem]

nav2 provides a waypoint_follower package that we are currently not using but does a lot of stuff for us in terms of navigating to GPS coordinates. For this issue, we want look into the package, which can be found here, and see if it can be integrated into (or possible even replace) some of our code.

• Research the package
• Look at where it could be integrated into our code
• Attempt to implement the package
• Test in simulator or with rover
  • (If replacing existing code, do NOT merge until it has been tested with the actual rover)