Port to ROS2

Goal: Make easier to deploy on modern robots! Would require port on Franka driver too.

First discussion is to not do in project, but in scope of MA

• Port the ROS1 flake to ROS2
• Make plan for ROS2 switch
• List the packages we will need and check their Humble compatiblity.
  • Check w/ Ulrich on realsense + spacenav, if theyre packaged for Gurke
  • Franka
    • Test default Franka docker container with fake hw
    • Test on real hardware
  • moveit_servo
  • realsense2-camera: check w/ Paul/Ulrich?
  • spacenav: steal from Ulrich or use the franka_spacenav
• Docker compose or launch to put all together at once

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After this issue: re-write of ML-model interface to use moveit_servo