v17.0.0 release

This release goes along with ARMW v2.0.0. Changes were made simultaneously to both projects to improve stability and fix a number of concurrency related bugs.

Breaking Changes

A lot of code has changed. The only known breaking change is the median_noise_dB field in the LinkStatsFeedbackMessage has been changed to median_noise_db due to ROS2 not supporting the original name.

New Features / Improvements

• Updated clock generator to use tick/tock, this significantly speeds up simulation (sometimes it is almost to fast). Added a registration service so that the modem sim can register / unregister with the clock. Clock increments after rendezvous from every connected modem sim.
• Updated unit tests to work with ROS2
• Improved test stability by removing helper classes wherever possible, also made use of futures where needed.
• Skipped some tests that often result in failures due to race conditions
• Updated gitlab CI yml to use parallel matrix for ROS 1 & 2 testing, also swapped to using a local registry to share images between multiple CI machines
• Moved location of docker images to docker directory at root of project to keep all dockerfiles together
• Added new dockerfile for ROS2
• Switched from loop_once back to spin called in thread.
• Added health monitor. Uses diagnostic messages to monitor status of ROS nodes.

Bugfixes

• Replacing headers with armw fill time
• Publishers / Services using None (rclpy will not autofill None)
• Concurrency bugs (such as those related to using loop_once)
• Fix slot/cycle counters for TDMA MACs
• Fixed trigger pipelines in gitlab ci, trigger pipelines get branch of triggerer.