Bridge between ROS1 and ROS2

[ggari-robotnik]

Implement a bi directorial bridge between ros1 and ros2

[Kapim]

It should be fairly easy for standard messages (and maybe even for non-standard). A topic type needs to be altered (it differs in ROS1 and 2) and maybe the Header message needs to be handled manually (there are some changes between ROS1 and 2).