Ros2 add components

[delihus]

After adding components
husarion/ros_components_description#43

[rafal-gorecki]

Move it to panther_description ;)

[delihus]

This is good point. I was thinking about this. I put this the bringup because you choose your components at runtime let's say but maybe the default components components: [] should be in description.

What do you prefer?

[rafal-gorecki]

Nice

[rafal-gorecki]

There are also a few shortcomings that I suggest you fix immediately and add a few sprint points to your task.

1. First of all, I don't see the point of tf_prefix and namespace, because they are duplicated everywhere. In components, I would only leave device_namespace.

2. I would remove all topic arguments from the sensor because changing this parameter causes gz_bridge to not find the topic. Therefore, the change must be made in two places. Moreover, the need to remap a topic will be extremely rare and the user can always do it in launch.py

[rafal-gorecki]

Add short info to Readme about new arg or how to launch it