Migrating from Foxy to Galactic

[destogl]

• Migrating from Foxy to Galactic
• Add missing updates from Add Mutli-Robot Lifecycle example #133

Replaces #137
@liushuya7 sorry I did mistake by force-pushing to your branch and now opened this PR.

[destogl]

@bailaC can you also check this one?

[destogl]

Rolling Binary is expected to fail until the ros2_control packages are released.

[codecov-commenter]

Codecov Report

Merging #138 (016128f) into master (37b1c9c) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master    #138    +/-   ##
=======================================
  Coverage    0.00%   0.00%            
=======================================
  Files           8       4     -4     
  Lines         756     381   -375     
=======================================
+ Misses        756     381   -375     

Flag	Coverage Δ
unittests	0.00% <ø> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...rol_demo_hardware/src/rrbot_system_with_sensor.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
.../ros2_control_demo_hardware/src/diffbot_system.cpp
...demo_hardware/src/rrbot_system_multi_interface.cpp
...demo_hardware/src/rrbot_system_multi_interface.cpp
...rol_demo_hardware/src/rrbot_system_with_sensor.cpp
.../ros2_control_demo_hardware/src/diffbot_system.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp	0.00% <0.00%> (ø)
...demo_hardware/src/rrbot_system_multi_interface.cpp	0.00% <0.00%> (ø)
... and 2 more

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[bailaC]

The changes look good.