Get the Create3 ROS2 library working

[Zacharyprime]

This will most likely require getting ROS2 working on the controller, which may prove to be a daunting task.

https://github.com/iRobotEducation/irobot_create_msgs

https://github.com/iRobotEducation/create3_examples

(These repositories are private, only people under the NDA with iRobot may view them)

Related Issue: https://github.com/kipr/KIPR-Development-Toolkit/issues/6

[Zacharyprime]

We may be able to reinstall ROS1 and then use a ROS1 bridge to use the Create topics. https://github.com/ros2/ros1_bridge/blob/master/README.md

[bmcdorman]

We should use ROS 2

[Zacharyprime]

I have Created a super basic example of how to control the Create 3 with ROS. It is privatized because we are under NDA, so for now this will have to stay within KIPR. Tim is the only person that has access as of writing this. Create 3 Tutorial

I suggest making classes Create3Publisher and Create3Subscriber as shown in that example and just having the kids pull methods from those classes. You could also have the publisher/subscriber handled at the same time in a Create3 class.

I transferred ownership to @kipr so when the NDA is no longer relevant and we can release information, Tim should be able to make it public

[Zacharyprime]

Instead of having 3 seperate threads all ROS2 discussion should be done here; so I've closed the other issues. This issue had some info on it in case we need it for later: https://github.com/kipr/KIPR-Development-Toolkit/issues/6

[Zacharyprime]

As of writing this, the Wombat-OS is still being worked on. Once that is finished we can experiment with this, but we will need to see what the final state of the OS rework will look like, how much space it takes up, and how much space we will be working with to make ROS2 work.