Ros2 panther manager

[KmakD]

Most of the work is done, can't be merged as it is waiting for plugin PR first. Plugin PR should include merging newest ros2-devel branch.
Things to finish after plugins are added:

• remap fan_enable, aux_enable etc. (should be /hardware/name) services controller launch
• update bringup launch
• remove dummy_scheduler
• add shutdown_hosts.yaml
• change ExpectThrowWithDesription to EXPECT_TRUE(IsMessageThrown) in tests

[pawelirh]

I have some doubts regarding the architecture (coupling between different behavior trees). I'm not sure if at this exact moment, we want to pay attention to such a discussion. However, let me mention a few aspects.

• The states (received messages) are updated on the blackboard frequently.
• It's hard to scale. A new BT, or modification of an existing one demands changes in the core node and pulls after unit test modifications.
• Single responsibility for the node is not kept, since the node in this example is responsible for creating and configuring the BT and blackboard.
• Why do we push to have several independent trees, since they are in the end using the same resources and executing interchangeably (SingleThreadedExecutor)?

[KmakD]

* Why do we push to have several independent trees, since they are in the end using the same resources and executing interchangeably (SingleThreadedExecutor)?

My mistake, this should be MultiThreadedExecutor. It's fixed. The idea behind two separate BTs is that safety is a crucial part of system and should be handled independently, we don't want deadlock or some sleep behavior in lights affect safety features.

[pawelirh]

LGTM 👌🏼