Peiqi/ros2 migration

[peiqi-liu]

Motivation and Context

Changelog

How Has This Been Tested

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist:

• I have made changes to existing documentation where needed.
• I have added tests that show that the PR is functional.
• I ran tests/hw_manual_test.py on hardware and observed that robot behavior looks normal.