Initial Work on Generic ROS Client #185
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Description
We previously had a stub in topic_provider showing that it would be possible to write a generic wrapper around both the ROS1 and Rosbridge backends. I pushed this aside previously when I realized that it was impossible to make the ROS trait "object safe" while maintaining the API that I wanted.
This beefs the initial work in there showing that it is possible to write a client which is generic on backend. Work is far from complete, but will likely be expanded in a series of MRs from here. This also serves as a forcing function to unify discrepancies between the rosbridge and ros1 APIs (looking at you Error types).
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