feat(hangar_sim): add slam_toolbox launch flag and nav2 params

[bkanator]

adds parameters to turn on the slam toolbox.

note for testing to ensure map generation:

1. set slam_toolbox launch parameter to true
2. you must switch on the platform_velocity_controller_nav2 controller (to get an odom message)

 ros2 control switch_controllers --activate platform_velocity_controller_nav2 --deactivate
  platform_velocity_controller

3. set the enable_odom_tf under the platform_velocity_controller_nav2 to true.

if there is a future objective it will need to enable this pipeline while setting slam toolbox to true.