Architecture Change [ Core + Ros1 + Ros2] Integration.

[Cruiz102]

I realized that there are some really neat things from Ros2 but using Ros1 its very convenient for certain hardware. I'm thinking that we could have refactor the project to have the following functionality. Instead of creating a whole application from scratch all over again when developing the Submarine code, maybe we could separate all the main logic from ROS1and ROS2 entirely. So that code will only be a wrapper to the main code.

We can start first by separating all the logic from the core source files in autonomy then we can separate all the scripts for the different modules. Create a folder for the Ros1 wrapper and consequently for the Ros2 wrapper.

[I want to be able to run this application on any operating system Ubuntu [24, 23,22,20,18] versions Windows and Mac. In this way development productivity will increase a lot since we will not have to depend on Docker and specially for the newcomers they will be able to do setup way more faster]

Also I want a Bare metal script to run the application on Ubuntu 24. So that I can connect it to the OpenAI environments.

[Cruiz102]

Putting some ideeas on how to make this refactor. This refactor is going to be a very big one, because we are tecnically want to refactor all the autonomy package into a separate one. This needs to be a incremental process. For example we can start by changing the computer vision package and then adding their ros wrapper. Another idea we can implement is a automatic wrapper for ROS. Lets say we have a pipeline of data we can create a library that manages intermediates steps that can be accesible throgh ros if someone wants to. For example:

TODO: LOL