bare bones launch file, for coverage_server start, topics and rviz params

[Chuckwisc]

The demo launch file is very nice, and worked fine but is complicated for beginners.
A simpler launch file which just starts the coverage_server, the topics and rviz params,
which can be added to a project already running some of the following controller_server, bt_navigator, velocity_server,and nav2_container, check if they exist and make them only if they do not exist.
I am trying to add opennav_coverage/f2c to ros2 jazzy project based on linorobot2 ( on ubuntu 24.04). Modifying your demo launch file, I can get the coverage_server to start, the /coverage_server/transition_event topic to show up, but am over my head on getting the other /coverage_server topics.