ROS2 Multiple Types Warning

[at669]

Proposed change(s)

ROS1's get_published_topics returned [[str, str]], but ROS2's get_topic_names_and_types returns a List[Tuple[str, List[str]]]. As we don't support multiple types per topic, this PR adds a warning message and maintains the original type subscribed.

Useful links (GitHub issues, JIRA tickets, forum threads, etc.)

• rospy get_published_topics
• rclpy get_topic_names_and_types
• AIRO-1101

Types of change(s)

• [x] Bug fix
• [ ] New feature
• [ ] Code refactor
• [ ] Documentation update
• [ ] Other (please describe)

Testing and Verification

Tested using string, bool, int32 ros2 topic pub.

Test Configuration:

• Unity Version: 2020.3.11
• Unity machine OS + version: MacOS 10.15.7
• ROS machine OS + version: Ubuntu 20.04, Foxy
• ROS–Unity communication: VirtualBox, bridged adapter

Checklist

• [x] Ensured this PR is up-to-date with the dev branch
• [x] Created this PR to target the dev branch
• [x] Followed the style guidelines as described in the Contribution Guidelines
• [ ] Added tests that prove my fix is effective or that my feature works
• [x] Updated the Changelog and described changes in the Unreleased section
• [ ] Updated the documentation as appropriate

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