Fix Foxy Branch

[atticusrussell]

This fixes the issues with building ROS Foxy firmware, encountered in issue #35 and adds CI to the branch to prove it

• Revert "revert back to micro_ros_arduino for foxy branch"
• Add CI
• Specify micro_ros_platformio as version with foxy support
• add micro_ros_utilities as lib_dep
• manually add typesupport library

[atticusrussell]

Currently troubleshooting this error with firmware CI (may have something to do with the status as a PR as it works in my fork)

will update.

[atticusrussell]

Closing this PR to cleanup commit history and will re-open. All CI checks passing though.