v4 updates to Rolling (#42)

Author: SteveMacenski

opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage.xml

@@ -11,7 +11,7 @@
   This BT shows set polygon usage with the coverage server
 -->
 
-<root main_tree_to_execute="MainTree">
+<root BTCPP_format="4" main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <RateController hz="0.0000001"> <!-- once, for demo -->
       <Sequence name="NavigateWithoutReplanning">

opennav_coverage_demo/params/demo_params.yaml

@@ -37,11 +37,6 @@ bt_navigator:
       plugin: "opennav_coverage_navigator/CoverageNavigator"
     error_code_names: ["compute_path_error_code", "follow_path_error_code", "compute_coverage_error_code"]
     plugin_lib_names:
-      - nav2_follow_path_action_bt_node
-      - nav2_rate_controller_bt_node
-      - nav2_recovery_node_bt_node
-      - nav2_pipeline_sequence_bt_node
-      - nav2_round_robin_node_bt_node
       - opennav_compute_complete_coverage_action_bt_node
       - opennav_cancel_complete_coverage_action_bt_node