convert to ros2 package

[ajarteag]

Turn repository into ros2 package.

• ensures package.xml and either setup.py or CMakeLists.txt is in the root directory
• removes any dockerfiles
• to be used in ros2 workspace (to be added as submodule in barracuda_ws)

When reviewing, ensure repository follows the above requirements as well as:

• package.xml contains all necessary build dependencies to run any python or c++ code or use other ros packages
• code is readable (minimal comments should explain non-obvious choices)
• code is modular
• there is a python launch file (.launch.py extension) to start up any necessary nodes within the launch directory
• concise readme denoting package uses cases,
  • node names
  • topics that will be subscribed or published by each node
  • expected msg types of topics used
  • any hardware dependencies