Publish PX4 uorb messages to standard ROS2 topics

[AlexKlimaj]

We want to take PX4 uorb topics coming in on DDS and publish them to standard ROS2 topics. Here is a non exhaustive list of some of the corresponding messages.

@dagar

https://github.com/ros2/common_interfaces/tree/humble
https://github.com/PX4/PX4-Autopilot/tree/main/msg

DebugArray.msg -> DiagnosticArray.msg
DebugValue.msg -> DiagnosticStatus.msg

VehicleAcceleration.msg -> Accel.msg

BatteryStatus.msg -> BatteryState.msg
VehicleImu.msg -> Imu.msg
VehicleMagnetometer.msg -> MagneticField.msg
vehicle_gps_position(SensorGps.msg) -> NavSatFix.msg
vehicle_gps_position(SensorGps.msg) -> NavSatStatus.msg ?
vehicle_gps_position(SensorGps.msg) -> TimeReference.msg ?
DistanceSensor.msg -> Range.msg
SensorHygrometer.msg -> RelativeHumidity.msg ?
VehicleAirData.msg -> Temperature.msg

[dirksavage88]

VehicleOdometry.msg -> Odometry.msg

Convert the NED to ENU coordinate frame.

[bradenwagstaff]

In the FoxgloveTest branch I'm creating a node that converts PX4 topics to ROS2 topics. Just like the master branch but requires you to run foxglove.py. You can then visualize those topics transformations in foxglove.

In this file, I've begun documenting the conversions
https://github.com/ARK-Electronics/ROS2_PX4_Offboard_Example/blob/FoxgloveTest/px4_offboard/px4_offboard/topic_mapping/topic_mapping.md#topic-mapping