ROS2-Side Updates

[at669]

Proposed change(s)

Pulling in miscellaneous ROS1 updates into the ROS2dev branch, as well as renaming variables for ROS2 (e.g. publishers -> publishers_table.

Also, 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, 1158

Types of change(s)

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

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
• [ ] Updated the Changelog and described changes in the Unreleased section
• [ ] Updated the documentation as appropriate

Other comments