Implemented ROS2 subscriber and use TypeAdapter #111
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This is pretty inefficiently implemented for now. This only implements the latest value subscriber. Need to significantly overhaul the code to not use a functional converter, but a type which would enable better compile time detection of wrong usage. Possibly reuse rclcpp::TypeAdapter for this. That's in a future commit tho. Right now this sets up some temporary code/scaffolding. Will need to implement an "all value" subscriber with a queue as well, but this will happen after the TypeAdapter overhaul. Some simplification/optimization might also occur before that.
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This uses standard facility to support type conversion, which significantly simplifies the code, is more performant, and is safer (as compile time we can check for more errors). Fixes #109
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The publisher example is now reworked to show two ways of doing things: 1. simple_data.cc: RealtimeT == RosT 2. complex_data.cc RealtimeT != RosT and a TypeAdapter is used
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Will need to implement an "all value" subscriber with a queue as well, but that will happen in a separate PR.
Closes: #100
Closes: #109