Refactor move_base initialization and update costmap config

- Remove automatic initialize() call from MoveBase constructor
- Comment out frame_id and plugins in local costmap config
- Remove unused two_points_global_params.yaml config file

config/costmap_local_params_plugins_no_virtual_walls.yaml

@@ -1,8 +1,8 @@
 local_costmap:
-    frame_id: odom
-    plugins:
-        - {name: obstacles,  type: "costmap_2d::VoxelLayer" }
-        - {name: inflation,  type: "costmap_2d::InflationLayer" }
+    # frame_id: odom
+    # plugins:
+    #     - {name: obstacles,  type: "costmap_2d::VoxelLayer" }
+    #     - {name: inflation,  type: "costmap_2d::InflationLayer" }
     obstacles:
         enabled: true
         footprint_clearing_enabled: true