Use ament to build

[zmichaels11]

Changes

• Use ament to build for ROS2 instead of catkin
• Define tests in root CMakeLists.txt

Testing

[thomas-moulard]

• The C++ improvements should be merged into master if possible.
• Is the ROS 2 branch up-to-date? I think we should start by merging master into this branch.
• It would be preferable to bump the package.xml to version 3 and use the new syntax to support ROS1/ROS2 compatibility syntax: https://www.ros.org/reps/rep-0149.html#name <depend condition="$ROS_VERSION == 1">roscpp</depend> - this way we won't have two package.xml
• it'd be great to minimize the diff, I'm seeing some changes in the CMakeLists.txt which seems to be more like cleaning-up changes, than required changes. It's ok to cleanup in master and then backport here, but doing it here is going to make merging from master challenging.

[zmichaels11]

Build and test running in GH Actions:

[piraka9011]

@wjwwood could we get a review on this please?

[klintan]

Any news on this one? Would be awesome to get a working ROS2 version on the main ros2 branch.

[zmichaels11]

Hi @klintan ,

There has not been any recent work on this issue.
The tracking issue has been moved back into our backlog since its going to require additional refactoring.

[thomas-moulard]

@zmichaels11 do you mind adding that back for grooming this week, if this is close to completion, we should try to finish this work.