Ros2 Redesign

[girvenavery2022]

Feature request

Feature description

This feature is to add a galactic branch along with some refactoring which includes migrating over to python launch files, moving the state publishers launch files in create_description over to create_bringup, add an rviz launch file/config, and add in a simulation package called create_simulation that uses ignition gazebo(or gazebo now xD).
By doing these things, cuts down on duplicate code and simplifies running the robots for the user greatly.
Right now, I have implemented all of these changes except simulation(still working on that) on my fork:
https://github.com/girvenavery2022/create_robot/tree/galactic
if there is any concerns or something you would like to see added, let me know!

[jacobperron]

I'm not sure what advantages switching to Python launch files give us, maybe you could elaborate?

Also, the current foxy branch appears to build fine with a Galactic installation. Ideally, we could just maintain a single branch that is compatible with all ROS 2 distributions, until there is good reason to branch. If there is something not working or a specific enhancement you'd like to see, I'm happy to review a pull request 🙂