Add Basic ROS2 Support

[eholum]

This PR adds ROS2 support to the kinova_vision repo, replicating functionality available in the ROS1 implementation.

I have tried to keep the node implementation close to the original source, though we should look into additional param configuration like rate limiting publishing, using param gen, and consolidating initialization and configuration. I also haven't generated rviz configuration just yet.

This has been tested in ROS2 humble.

The README has been updated to provide instructions for compiling and launching.

Thanks to @skpawar1305 for his work in the other fork.

Streaming point cloud:

Corresponding RGB image:

[skpawar1305]

hello, you may refer https://github.com/RRL-ALeRT/ros_kortex_vision just in case
tried and tested a lot

also I can create a pull request if you feel like it

[eholum]

hello, you may refer https://github.com/RRL-ALeRT/ros_kortex_vision just in case

This is excellent, thank you @skpawar1305! I will pickup your changes too and merge them here. We are testing extensively on a new gen3 with a built-in wrist camera. Once we're confident I think it would be good to get a ros2 branch merged to the upstream on a new branch. I think it will be good for more users to have access with the updated https://github.com/Kinovarobotics/ros2_kortex drivers. Thanks!

[eholum]

Created an issue in the upstream: Kinovarobotics#19 to figure out what we should do with this, but for now I think we have enough functionality to call this a baseline for ros2 support. More features to come.

[dyackzan]

Anticipatory approval since I'm leaving for vacation today

[skpawar1305]

hello, I've also ported the calibration tool roughly from https://github.com/Kinovarobotics/ros_kortex_vision/tree/feature/calibration-program/cv_calibration, and it works good

let me know if you're interested n I'll create a separate PR for the same

[eholum]

let me know if you're interested n I'll create a separate PR for the same

Yes! That's very good to hear. Please go ahead and open a PR, we can continue moving forward on ros2 development for kinova vision tools in a common location here until we get buy in from Kinova themselves.