Add ROS2 support

[aimanbayezeed]

🚀 Feature

Hi, thank you for the great work on home-robot! This feature request is to add support for ROS 2 to improve compatibility with the current generation of ROS-based systems and enable easier integration with modern robotic applications.

Motivation

Primarily, we require ROS 2 support to be able to use it with the Hello-robot Stretch 3 which works on Ubuntu 22.04 and ROS2 Humble.
Adding ROS 2 support would ensure that home-robot remains relevant and usable with recent advancements and the ROS ecosystem. This would also improve support for real-time control, more robust networking, and enhanced multi-robot and simulation capabilities.