Es wip

[AESilky]

I updated my fork with all of the changes in the main repo. This resolved the error with the colcon build. I do get this warning:

CMake Warning (dev) at CMakeLists.txt:1 (project):
  cmake_minimum_required() should be called prior to this top-level project()
  call.  Please see the cmake-commands(7) manual for usage documentation of
  both commands.
This warning is for project developers.  Use -Wno-dev to suppress it.

It would be nice if that was resolved.