Port unit tests to ROS 2 + Fix CBOR conversion and PNG compression #795

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Run time

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Job	Run time
lint	20s
ROS 2 humble (ubuntu-22.04)	6m 47s
ROS 2 iron (ubuntu-22.04)	8m 16s
ROS 2 rolling (ubuntu-22.04)	9m 22s
	24m 45s