Migrate ROS 1 elevation_mapping_cupy to ROS 2 (Humble) with Existing pybind11 Integration

[amilearning]

Description

This pull request continues the migration of elevation_mapping_cupy to ROS 2, including the already existing pybind11 functionality from the ROS 1. Below are the details of the migration effort:

Changes Made

1. Core ROS 2 Migration:
   • Migrated key components from ROS 1 to ROS 2:
     • Pointcloud-based map update.
     • Image-based map update.
   • Updated node interactions and replaced ROS 1 APIs with ROS 2 equivalents.
2. pybind11 Integration:
   • Adapted the existing pybind11 bindings to work seamlessly in the ROS 2 framework.
   • Verified Python-C++ interactions for all existing functionality.
3. Parameter Handling:
   • Currently, all parameters are centralized in core_param.yaml. This is not desirable for modularity and maintainability.
     To-Do: Split parameters into separate YAML files specific to individual components or nodes to improve clarity and reusability.
4. Build System Updates:
   • Updated CMakeLists.txt and package.xml to ensure compatibility with ROS 2 while preserving pybind11 dependencies.
   • Updated to use ament_cmake for ROS 2 builds.
5. Launch Files:
   • Replaced ROS 1 .launch files with .py launch files compatible with ROS 2.

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Testing and Validation

• ROS 2 Environment: Verified functionality in a ROS 2 environment (22.04, Humble).
• pybind11 Compatibility: Tested existing pybind11 bindings to ensure smooth integration with the migrated ROS 2 components.
• Launch Verification: Confirmed that the new .py launch files initialize nodes and bindings correctly.
• Performance Checks: Ensured Python and C++ modules work together without degradation in performance(tested in Jetson AGX Orin).

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