Experiment with semgrep

[tonynajjar]

Follow up to: #6062 (comment)

https://github.com/semgrep/semgrep could be a good tool to add to CI to enforce certain Nav2 best practices, for example the use of nav2:: objects overriden from rclcpp e.g. nav2::Subscriber, nav2::Publisher, etc...

[SteveMacenski]

Basically: use to enforce coding standards and tooling within Nav2 rather than me having to review and catch them each time manually. We have certain tools and wrappers that should always be preferred for use

[MilindKharwade7]

@SteveMacenski, could you please provide the list of static checks to be done as referenced in the below comment?
#6062 (comment)

I would like to proceed with the mentioned one and give this thing a shot, as referenced below
#6062 (comment)

[SteveMacenski]

I think we should start small and only do a few things and see how that goes. A good starting point would be the nav2:: interface types (ServiceServer, ServiceClient, Publisher, Subscription, etc) w.r.t. rclcpp:: versions. Next best would be addressing parameters using get_parameter and declare_parameter instead of our declare_and_get_parameter API -- though there are a few acceptable exceptions in the codebase. QoS settings are another good one.

From there, it would probably involve porting more rclcpp:: types into nav2:: types to enable further checks on styling. But I'm sure there are even more advanced things we can do with this library as well!