Fixes for Windows

[Ace314159]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	N/A
Primary OS tested on	Windows
Robotic platform tested on	Gazebo and Rviz simulation of turtlebot

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Description of contribution in a few bullet points

• Fixes build and some runtime errors on Windows

Description of documentation updates required from your changes

N/A

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Future work that may be required in bullet points

None, Nav2 seems to work completely on Windows

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[SteveMacenski]

All new development needs to be targeted to main though so it can be incorporated into new distributions. I'm OK with also merging into Foxy, but we need a main PR to merge foxy.

[SteveMacenski]

I also question if this PR builds if main doesn't but CI on non-main branches are not working right now. I'd test though before being able to merge so my guess is whatever change you need to make in your other PR needs to be made here too

[Ace314159]

This branch should build. I have been using it for a while now. I have a successful CI build using my branch from a week ago here