Fix/package structure

[vitorsmends]

Pull Request Description: Linting and CI Setup for ROS 2 Package

Summary

This Pull Request introduces several enhancements to the CI pipeline, code quality checks, and ROS 2 node updates for the softrobots_teleop package. The following linters and tools have been configured to automatically run during pull requests and manual workflows:

Linters Configured

• Uncrustify: Enforces code style and formatting for C++ files.
• Cpplint: Ensures compliance with the Google C++ Style Guide.
• CMake Linter: Validates the syntax and best practices for CMake files.
• Flake8: Lints Python files (including ROS 2 launch files written in Python).
• xmllint: Validates XML launch files.

ROS 2 Node Changes

• The PointCloudProcessor node has been updated to load parameters directly from the ROS 2 parameter server instead of a YAML file. This change ensures that parameters such as red_threshold, green_threshold, blue_threshold, and topics are dynamically loaded during runtime.
• The load_parameters method now uses ROS 2's declare_parameter and get_parameter functions to fetch values from the ROS 2 parameters.
• The corresponding launch.py file was modified to pass these parameters directly to the node using the ros__parameters structure.
• Nodes were adjusted to use logging for parameter values (via RCLCPP_INFO) to ensure proper parameter retrieval and debugging.

CI Pipeline

Additionally, a GitHub Actions workflow named colcon-action-runner has been configured to automate the build, testing, and code coverage generation for the softrobots_teleop package. The CI pipeline will:

1. Setup the ROS 2 environment using Docker and ROS 2 Humble.
2. Run linters across the codebase to ensure consistent style and syntax.
3. Build and test the package using colcon for ROS 2 workspaces.
4. Generate code coverage using lcov for C++ code and coveragepy for Python files.
5. Report the code coverage results directly to pull requests.

Workflow Configuration

• Trigger: The workflow is triggered on pull requests and manual dispatch.
• Docker Environment: The CI runs inside a Docker container based on rostooling/setup-ros-docker with support for Ubuntu 22.04 (Jammy) and ROS 2 Humble.
• Matrix Build: The linters and tests are executed in parallel using GitHub Actions matrix strategy.

New Files Introduced

1. .github/workflows/lint.yml: Configures the GitHub Actions workflow for running the various linters.
2. .github/workflows/colcon-action-runner.yml: Configures the CI pipeline to build, test, and generate code coverage for the ROS 2 package.

How to Test

• Submit a pull request or manually trigger the GitHub Actions workflows to ensure that all linters, build, and test processes run successfully.
• Verify that code coverage reports are automatically commented on the pull request.
• Run the modified ROS 2 nodes to ensure that parameters are dynamically loaded from the ROS 2 parameter server.

Checklist

• CI pipeline for ROS 2 workspace using colcon.
• Linters configured for C++, CMake, Python, and XML.
• ROS 2 nodes updated to use ROS parameters.
• Automated code coverage generation and reporting.

Future Enhancements

• Consider extending the coverage tools to include additional packages or ROS nodes.