Migrate simulation to ROS2

This MR resolves: #10 (closed), #11 (closed), #12 (closed), #13 (closed), #14 (closed)

All of eufs_sim got migrated to ROS2.

This was all done in one go because of the interrelationship of all of the packages in eufs_sim on it actually working.

One new feature is that there is a new publisher to publish visualisations for the full track. Apart from this all of the functionality is the same.