ROS2 Humble conversion

[majdkhalife]

I apologize for the terrible commit messages, as I wasn't planning on opening a PR.
However I made the necessary changes to the package such that it works on ros2 humble.
Feel free to test it but I resolved our docker issue using these converted files.

Best,
Majd

[benmaidel]

@majdkhalife Did you check if the foxy branch is working for you? https://github.com/4am-robotics/cob_common/tree/foxy This is already a ROS 2 version of cob_common.

Also, your PR attempts to merge the changes into the noetic-devel branch, which will not be accepted. If the foxy version does not work for humble, you could open a PR to the foxy branch with the necessary changes. Be aware that in this case foxy still needs to be compatible.

If foxy and humble are not compatible, we may need to consider creating a separate humble branch.

And one remark on your commit history. You could always rebase/fixup/squash you commits.