Add ROS2 support

Breaking Changes

• Requires armw
• Removed all dynamic reconfigure parameters. There are equivalent topics to control these functions.
• Made a number of previously-global parameters node-local.

New Features

• Supports both ROS2 and ROS1 (tested with ROS2 Jazzy and Humble, ROS1 Noetic)
• Added new MACs:
  • mac_send_on_request "call and response" MAC
  • mac_send_immediately MAC that transmits as soon as a queue has data to send

Background

The history of this branch, started from: devel then became dev/ros2. dev/ros2 had additional development "clearing" it for use with ROS2 Humble and Jazzy. feature branches from dev/ros2 were merged back into dev/ros2 and dev/ros1ros1 was created from dev/ros2. Updates from devel since the initial divergence with dev/ros2 were hand placed back into dev/ros1ros2. Once dev/ros1ros2 passed CI/CD, we resolved conflicts between dev/ros1ros2 and devel.

The tip of this branch will be ahead of devel with nodes running armw for the backend (making it compatible with ROS2, needs testing in ROS2 and CI/CD for ROS2)