[Meta-Ticket] Foxy improvements

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General Improvements

• Refactor code to reduce complexity
• Refactor code to use ROS parameters
• Refactor code
• Add topic statistics support ADE support for Foxy #28
• Add support for ROS tracing tools [Foxy] Add support for ROS tracing tools #9
• Improve code to follow real-time programming guidelines [Foxy] Improve code to follow real-time programming guidelines  #11
• Analyze memory allocations
• Use bounded message types
  • Create custom message types
  • Create relay node to re-publish joint state msgs for visualization
• Create launch files for composable/lifecycle nodes
• Remove pendulum_msgs_v2
• Make ros2_tracing dependency optional
• Automatically show demo statistics when launching the demo Automatically show demo statistics when launching the demo  #63

ADE

• ADE support for Foxy ADE support for Foxy #28
• Add support for lttng and ros tracing [Foxy] Add ros_tracing support in ADE #36

CI

• Add sanitizers [Foxy] Sanitizers implementation on CI #30
• Add coverage measurement

Testing

• Add unit tests
• Add integration tests
• Add memory allocations checks in tests (WIP)

Documentation

• Update install instructions
• Add ADE install instructions (something like this https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/installation.html#installation-and-development-install-ade)
• Update demo run instructions Add instructions to control the pendulum and plotting #44
• Update real-time benchmark demo instructions Add instructions to tune and plot real-time metrics #45
• Update design doc
• Add instructions to build an RT kernel in a Raspberry PI => https://github.com/ros-realtime/rtwg_documentation
• Provide instructions/links to cross-compile the workspace in a Raspberry PI => https://github.com/ros-realtime/rtwg_documentation
• Provide a configured Raspberry PI image
• Add codecov badge
• Define timing requirements in terms of deadline, jitter, tolerable ranges, etc
• Add instructions explaining how to use ros2 tracing