Native ROS2 support

This project serves as a modification to the Project “Porting MAVROS for ROS2” and instead aims to provide Ardupilot with native support for ROS2 with basic publish-subscribe features.

The protocol that would be followed to implement the native features would be the XRCE-DDS protocol (DDS for resource-constrained environments). This project would involve the building of an XRCE-DDS client along with necessary IDL files for publishing time-critical vehicle messages across to either an :

• XRCE-Agent (for native DDS models)
• Micro-ROS Agent (for ROS2 nodes) with basic publish-subscribe functionality