Port to ROS2 #3
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Port to ROS2 #3
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ROS2への移植を行いました．
但し，本PullRequestはROS1版の破壊的変更となります．
ひとまず，masterブランチへのPullRequestとさせていただいておりますが，
もし，取り込んでいただける場合には新しく
ros2ブランチを作った上でそちらにマージすることをオススメいたします．参考：grid_mapパッケージ（masterブランチはROS1だが，ros2ブランチでROS2版を提供している）