[Feature Request] ROS2 backend

[bheijden]

🚀 Feature

Implement a ROS2 backend.

Motivation

As of now, we expect that ROS2 can only be used if the SingleProcess backend is selected (should be tested), because using the ROS1 backend clashes with ROS2. The SingleProcess backend has limited support for multi-processing and distributed computation.

A dedicated ROS2 backend would unlock multi-processing and distributed computation support with ROS2

Checklist

• I have checked that there is no similar issue in the repo (required)