Migrated Voxblox to ROS2

[murraylouw]

Partly migrated Voxblox to ROS2.
This will hopefully help Voxblox to be used in more future research because ROS1 is deprecated.

ROS2 branch

Since I do not have write access, I cannot create a new branch in the repo.
I suggest these options to let Voxblox for ROS1 and ROS2 coexist:

• Create a new repo called Voxblox2
• Add a branch ros2 and add a link and description to it in the README and docs
• Create a release tag for the current ROS1 version and continue commits to master for the ROS2 version with subsequent release tags.

Contributions

• Added Dev Container for consistent dev environment and easy setup (ROS2 Humble)
• Successfully migrated tsdf_server_node and all its dependencies to ROS2.
• Successfully migrated voxblox-rviz-plugin to ROS2.
• Successfully tested Voxblox with basement_dataset and cow_and_lady_dataset after converting the bag files to ROS2.
• Updated the README with instructions for Voxblox with ROS2.
• Added modified source code of minkindr and minkindr_conversion because of breaking changes with ROS2 (only the functions referenced by Voxblox were included).

Future work

• Migrate esdf_server_node and the remaining executables to ROS2. Most of the code base has been migrated but there are still compilation errors for some executables at the moment.
• Migrate the tests to ROS2.
• Update the documentation for ROS2.

[murraylouw]

#364