Ros 2 support

[keionbis]

Discussed this with you, just wanted an issue to track it with so i could know the progress

[keionbis]

Along with this we could consider adding in XML to URDF exporting

[madhephaestus]

I wrote a URDF loader/exporter for work and the boss has expressed interest in open sourcing it. I think once thats freed up ill take a stab at this

[madhephaestus]

At work we use this library to bridge our java real-time stack over into ros2 https://github.com/ihmcrobotics/ihmc-java-ros2-communication

[madhephaestus]

In order for me to make this add-on, i need the following pre-steps completed:

1. make a new project and repo

2. add me as collaboration

3. add whatever starting point you have

4. add a workspace repo with submodules for the ros projects to test the Java code

5. add a stub workspace with code to mock the tester and provide example of the coms you want.