Initial driver implementation (ImageCompressed, LaserScan, Odometry and Twist)

[lukicdarkoo]

Description This is the initial pull request that provides ROS2 drivers for pi-puck. It provides a few basic topics, ImageCompressed, LaserScan, Odometry and Twist. It also includes necessary optimisation to run the nodes on Raspberry Pi Zero W smoothly, e.g. GPU utilisation and C++ implementation.

Tasks

• [x] Create a driver for a camera that uses onboard GPU to perform JPEG compression
• [x] In Python. Create a driver for e-puck2 motors, distance sensors and odometry which use ROS2 standard topics LaserScan, Odometry, Range and Twist.
• [x] Optimise in C++. Create a driver for e-puck2 motors and distance sensors which use ROS2 standard topics LaserScan, Range and Twist.
• [x] Create end-to-end tests by mocking I2C communication with the main MCU and ROS2 nodes.
• [x] Pull CI tests from master.
• [x] Match the code formatting to Webots style guide -> reconfigure ROS2 ament tools.

[omichel]

:eyes:

[lukicdarkoo]

I would be nice to use the same coding style as in Webots for C, C++ and Python, including line length limitations.

The main changes are introduced in the following two files:

• https://github.com/cyberbotics/epuck_ros2/pull/2/commits/c8405b6359ec519caed84956dee03eab052b3a2d#diff-04faae5a2e8975c77d7e2f06742090a8
• https://github.com/cyberbotics/epuck_ros2/pull/2/commits/c8405b6359ec519caed84956dee03eab052b3a2d#diff-d1cbb55b16277222c7fda06249fa7d1f

[lukicdarkoo]

Much better this way. There is still a couple of opening brackets that should be fixed (it seems they are not checked by the ROS2 coding style rules).

Yes, package epuck_ros2_camera is not verified by CI because it cannot be built as it depends on Raspberry Pi specific libraries (mmal_*). Maybe we can find a workaround, but for now, I would leave as it is. It is verified manually (with clang-format) in a54ce88.

BTW, it's good we separated camera driver and driver for the rest of e-puck as now we can test them separately.