bdaiinstitute / spot_ros2 / 7820151579

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[SW-679] Config. file is not used to get hostname, username, or password when running the driver (#259)

## Changes Overview
This addresses [this issue](https://github.com/bdaiinstitute/spot_ros2/issues/247) of not being able to connect to Spot from `spot_driver.launch.py` without setting environment variables. Now, the spot driver can be launched with only a configuration file yaml (`config_file`) if the user chooses. 

The implementation parses the `config_file` yaml within the launchfile to determine if `username`,  `password`, and `hostname` are set there as ROS parameters. If both environment variables and `config_file` parameters are set, then the environment variables take priority (similar to the `get_from_env_and_fall_back_to_param` logic in `spot_ros2.py`).  It also assumes a yaml structure for `config_file` (if used) of the following:
```
/**:
    ros__parameters:
        username: ...
        password: ...
        hostname: xxx.xxx.xxx.xxx
        .....
```
and also assumes environment variables (if used) are set as `BOSDYN_CLIENT_USERNAME`, `BOSDYN_CLIENT_PASSWORD,` and `SPOT_IP`. 


## Testing Done
* If an environment variable (any of `BOSDYN_CLIENT_USERNAME`, `BOSDYN_CLIENT_PASSWORD,` `SPOT_IP`) is set, this will be used for the login attempt. 
* If any environment variable is not set, the `config_file` yaml will be searched to see if the appropriate login information exists there. 
* If a parameter of username/password/hostname is set both by environment variable and by `config_file`, the value from the environment variable will be used for the login attempt. 
* If any one of username, password, and hostname is not set by anything, an exception will be thrown as login will not be possible and the driver will not launch. 
* If the `config_file` yaml passed in is malformed and cannot be parsed, a YAMLError is thrown. 

Verified that login is possible with a config file on-robot too. 

## Other comments
Currently the only use for these va... (continued)

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