ros client equivalent support to expose same API as curent rcpcpp

[bobd988]

Goal:

replace Autoware.universe rclcpp node with minimum porting effort. There are many use cases where the user node consumes the algorithm node through rclcpp over DDS. Dora needs a dora-rcl-cpp C++ client to allow ROS2 node to be ported as transparent as possible. As all the Autoware.universe original code is in C++ both dora-rcl-client and dora service node needs to be in C++ although the low level code can be RUST.

The dora-rcl-client needs to be able to

• Call existing ROS2 service/action/pub/sub
• Call Dora specific service/action/pub/sub

- Create node example

class TrafficLightRoiVisualizerNodelet : public rclcpp::Node
{
public:
  explicit TrafficLightRoiVisualizerNodelet(const rclcpp::NodeOptions & options);
  void connectCb();

  void imageRoiCallback(
    const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg,
    const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr &
      input_tl_roi_msg,
    const autoware_auto_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr &
      input_traffic_signals_msg);

  void imageRoughRoiCallback(
    const sensor_msgs::msg::Image::ConstSharedPtr & input_image_msg,
    const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr &
      input_tl_roi_msg,
    const autoware_auto_perception_msgs::msg::TrafficLightRoiArray::ConstSharedPtr &
      input_tl_rough_roi_msg,
    const autoware_auto_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr &
      input_traffic_signals_msg);

- Create service example

#include "gnss_module.hpp"

#include <component_interface_specs/localization.hpp>
#include <component_interface_utils/rclcpp/exceptions.hpp>

#include

GnssModule::GnssModule(rclcpp::Node * node)
{
cli_map_fit_ = node->create_client("fit_map_height");
sub_gnss_pose_ = node->create_subscription(
"gnss_pose_cov", 1, [this](PoseWithCovarianceStamped::ConstSharedPtr msg) { pose_ = msg; });

clock_ = node->get_clock();
timeout_ = node->declare_parameter("gnss_pose_timeout");
}