feat: allow passing ros2 types in send_message

[maciejmajek]

Purpose

Reducing boilerplate:

from rai.communication.ros2 import ROS2Connector, ROS2Context, ROS2Message

# before
with ROS2Context():
    connector = ROS2Connector()
    connector.send_message(
        target="/test",
        message=ROS2Message(payload={"data": "Hello, ROS2!"}),
        msg_type="std_msgs/msg/String",
    )

from std_msgs.msg import String

# after
with ROS2Context():
    connector = ROS2Connector()
    connector.send_message(target="/test", message= String(data="Hello, ROS2!"))

Proposed Changes

Allow passing IROS2Message into send_message method. Msg cls validation by rosidl_runtime_py

Issues

TBD: Implementation for messages is easy, implementation for services and actions is hard. We are currently passing a dictionary and msg_type e.g. "std_srvs/srv/SetBool". Then we use the msg_type to create a Request cls and fill it with the passed dictionary.

A simpler api, coherent with new send_messages should allow:

connector.service_call(target='/my_service', message=SetBool.Request(data=True))

But to create a service client we also need to know the underlying base class (SetBool, not a SetBool.Request). Since SetBool.Request is not linked to SetBool, we will either need to keep passing msg_type via a string/cls or hack our way out with some magic.

Testing

Extended test suite

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 65.53%. Comparing base (074af8e) to head (864f99c).
✅ All tests successful. No failed tests found.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #741      +/-   ##
==========================================
+ Coverage   65.34%   65.53%   +0.18%     
==========================================
  Files          78       78              
  Lines        3388     3406      +18     
==========================================
+ Hits         2214     2232      +18     
  Misses       1174     1174              

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