Ros2 migration (#21)

* Migrate hbba_lite to ROS2.

* Update README.md

* Fix package.

* Refactoring.

* Cleanup

* Fix CMakeLists.txt.

* Fix examples.

* Format

* Create hbba_lite_msgs and hbba_lite_srvs.

* Fix for humble

* Use ref instead of pointer

* Fix rclpy.shutdown().

* Fix shutdowns.

* Fix depedency exports

* Fix build for CMake 3.22.1

* Fix includes installation

* Update pull-request-audit.yaml

* Update pull-request-audit.yaml

* Update pull-request-audit.yaml

* Update pull-request-audit.yaml

* Update README.md

---------

Co-authored-by: Dominic Létourneau <[email protected]>
Co-authored-by: philippewarren <[email protected]>

.github/workflows/pull-request-audit.yaml

@@ -2,40 +2,41 @@ name: pull-request-audit
 
 on:
   push:
-    branches: [main]
+    branches: [ros2]
 
   pull_request:
-    branches: [main]
+    branches: [ros2]
 
   workflow_dispatch:
-    branches: [main]
+    branches: [ros2]
 
 jobs:
   build:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
 
     steps:
       - uses: actions/checkout@v2
         with:
-          path: catkin_ws/src/hbba_lite
+          path: colcon_ws/src/hbba_lite
 
       - uses: ros-tooling/[email protected]
         with:
-          required-ros-distributions: noetic
+          required-ros-distributions: humble
 
       - name: Install system dependencies
         run: |
           sudo apt-get update
           sudo apt-get install libgecode-dev
 
       - name: Compile packages in ROS workspace
-        working-directory: catkin_ws
+        working-directory: colcon_ws
         run: |
-          source /opt/ros/noetic/setup.bash
-          catkin_make -j1
+          source /opt/ros/humble/setup.bash
+          colcon build
 
       - name: Run tests
-        working-directory: catkin_ws
+        working-directory: colcon_ws
         run: |
-          source /opt/ros/noetic/setup.bash
-          catkin_make run_tests
+          source /opt/ros/humble/setup.bash
+          colcon test --packages-up-to hbba_lite
+          colcon test-result --all --verbose