Kilted support

[jimmy-mcelwain]

Adds kilted support.

Depends on Yaskawa-Global/micro_ros_motoplus#22 (and consequently Yaskawa-Global/micro_ros_motoplus#21) and https://github.com/Yaskawa-Global/micro_ros_motoplus_buildscripts/pull/167.

I added --ipc=host to the docker run example because otherwise the micro-ros agent wasn't publishing properly. I could list topics and nodes, but not echo. But after adding --ipc=host, it worked.

I haven't thoroughly tested. I loaded on a binary that I built and verified that /joint_states was publishing.

I don't know when Lyrical will make it upstream for micro-ros, but hopefully having done all of this will make it easier to port once it does come.

[gavanderhoorn]

I haven't tested anything, but as a first comment: please update the build VS proj workflow to add Kilted to the matrix.

It will fail until Yaskawa-Global/micro_ros_motoplus#22 is merged, but that would be a good way to figure out whether this PR can be merged or not.

[gavanderhoorn]

Marking as changes requested to avoid accidental merge.

[jimmy-mcelwain]

please update the build VS proj workflow to add Kilted to the matrix

I haven't done that yet because I do not know what the name of the micro_ros_motoplus release will be (since it has the build date in it). Should I have a placeholder, or should I put up a Kilted pre-release to micro_ros_motoplus?