Adds worlds code to develop

[JakeWendling]

PR Summary

PR Link: INSERT-LINK-HERE

Issue Link: INSERT-LINK-HERE

Description

Adds code from last day of worlds that wasnt pushed.

Reviewers

• Required:
  @MaxxWilson or @melissajcruz

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Changelog

• Adds a bt node that signifies the end of the auton.
• Adds parameter for the starting intake position.
• Fixes runtime error where ros parameters were being registered multiple times by BT nodes.
• changes various auton parameters in ros config

Reviewer Guide

• Requires no input, just updating final values from last day of worlds

Testing

Automatic

• Default tests

Manual

• Should run correctly with hardware launch

Checklist

• Confirmed all tests pass on a clean build
• Added reviewers in Github
• Posted PR Summary to Discord PR's Channel
• Ran uncrustify on any modified C++ files
• Ran Colcon Lint for any modified CMakeLists.txt or Package.xml