add messages for ROS 2 iron (#14)

### Changelog
Add message definitions for ROS2 iron

### Description
Adds ROS2 iron messages. See details below for changes wrt. ROS2 humble.

<details>
<summary>diff -r msgdefs/ros2humble/ msgdefs/ros2iron</summary>

```
diff -r msgdefs/ros2humble/lifecycle_msgs/msg/State.msg msgdefs/ros2iron/lifecycle_msgs/msg/State.msg
17c17
< # This is the main state of the node’s life cycle. While in this state, the node
---
> # This is the main state of the node's life cycle. While in this state, the node
29c29
< # In this transition state the node’s onConfigure callback will be called to
---
> # In this transition state the node's onConfigure callback will be called to
33c33
< # In this transition state the node’s callback onCleanup will be called to clear
---
> # In this transition state the node's callback onCleanup will be called to clear
diff -r msgdefs/ros2humble/lifecycle_msgs/msg/TransitionDescription.msg msgdefs/ros2iron/lifecycle_msgs/msg/TransitionDescription.msg
23c23
< # The node’s onConfigure callback will be called to allow the node to load its
---
> # The node's onConfigure callback will be called to allow the node to load its
27c27
< # The node’s callback onCleanup will be called in this transition to allow the
---
> # The node's callback onCleanup will be called in this transition to allow the
125c125
< # This is the main state of the node’s life cycle. While in this state, the node
---
> # This is the main state of the node's life cycle. While in this state, the node
137c137
< # In this transition state the node’s onConfigure callback will be called to
---
> # In this transition state the node's onConfigure callback will be called to
141c141
< # In this transition state the node’s callback onCleanup will be called to clear
---
> # In this transition state the node's callback onCleanup will be called to clear
185c185
< # This is the main state of the node’s life cycle. While in this state, the node
---
> # This is the main state of the node's life cycle. While in this state, the node
197c197
< # In this transition state the node’s onConfigure callback will be called to
---
> # In this transition state the node's onConfigure callback will be called to
201c201
< # In this transition state the node’s callback onCleanup will be called to clear
---
> # In this transition state the node's callback onCleanup will be called to clear
diff -r msgdefs/ros2humble/lifecycle_msgs/msg/TransitionEvent.msg msgdefs/ros2iron/lifecycle_msgs/msg/TransitionEvent.msg
26c26
< # The node’s onConfigure callback will be called to allow the node to load its
---
> # The node's onConfigure callback will be called to allow the node to load its
30c30
< # The node’s callback onCleanup will be called in this transition to allow the
---
> # The node's callback onCleanup will be called in this transition to allow the
128c128
< # This is the main state of the node’s life cycle. While in this state, the node
---
> # This is the main state of the node's life cycle. While in this state, the node
140c140
< # In this transition state the node’s onConfigure callback will be called to
---
> # In this transition state the node's onConfigure callback will be called to
144c144
< # In this transition state the node’s callback onCleanup will be called to clear
---
> # In this transition state the node's callback onCleanup will be called to clear
188c188
< # This is the main state of the node’s life cycle. While in this state, the node
---
> # This is the main state of the node's life cycle. While in this state, the node
200c200
< # In this transition state the node’s onConfigure callback will be called to
---
> # In this transition state the node's onConfigure callback will be called to
204c204
< # In this transition state the node’s callback onCleanup will be called to clear
---
> # In this transition state the node's callback onCleanup will be called to clear
diff -r msgdefs/ros2humble/lifecycle_msgs/msg/Transition.msg msgdefs/ros2iron/lifecycle_msgs/msg/Transition.msg
12c12
< # The node’s onConfigure callback will be called to allow the node to load its
---
> # The node's onConfigure callback will be called to allow the node to load its
16c16
< # The node’s callback onCleanup will be called in this transition to allow the
---
> # The node's callback onCleanup will be called in this transition to allow the
Only in msgdefs/ros2iron/rcl_interfaces/msg: LoggerLevel.msg
Only in msgdefs/ros2iron/rcl_interfaces/msg: SetLoggerLevelsResult.msg
diff -r msgdefs/ros2humble/sensor_msgs/msg/BatteryState.msg msgdefs/ros2iron/sensor_msgs/msg/BatteryState.msg
26,32c26,34
< uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0
< uint8 POWER_SUPPLY_TECHNOLOGY_NIMH = 1
< uint8 POWER_SUPPLY_TECHNOLOGY_LION = 2
< uint8 POWER_SUPPLY_TECHNOLOGY_LIPO = 3
< uint8 POWER_SUPPLY_TECHNOLOGY_LIFE = 4
< uint8 POWER_SUPPLY_TECHNOLOGY_NICD = 5
< uint8 POWER_SUPPLY_TECHNOLOGY_LIMN = 6
---
> uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0 # Unknown battery technology
> uint8 POWER_SUPPLY_TECHNOLOGY_NIMH = 1    # Nickel-Metal Hydride battery
> uint8 POWER_SUPPLY_TECHNOLOGY_LION = 2    # Lithium-ion battery
> uint8 POWER_SUPPLY_TECHNOLOGY_LIPO = 3    # Lithium Polymer battery
> uint8 POWER_SUPPLY_TECHNOLOGY_LIFE = 4    # Lithium Iron Phosphate battery
> uint8 POWER_SUPPLY_TECHNOLOGY_NICD = 5    # Nickel-Cadmium battery
> uint8 POWER_SUPPLY_TECHNOLOGY_LIMN = 6    # Lithium Manganese Dioxide battery
> uint8 POWER_SUPPLY_TECHNOLOGY_TERNARY = 7 # Ternary Lithium battery
> uint8 POWER_SUPPLY_TECHNOLOGY_VRLA = 8    # Valve Regulated Lead-Acid battery
diff -r msgdefs/ros2humble/sensor_msgs/msg/Range.msg msgdefs/ros2iron/sensor_msgs/msg/Range.msg
40a41,43
> float32 variance        # variance of the range sensor
>                         # 0 is interpreted as variance unknown
> 
Only in msgdefs/ros2iron/test_msgs/msg: Arrays.msg
Only in msgdefs/ros2iron/test_msgs/msg: BasicTypes.msg
Only in msgdefs/ros2iron/test_msgs/msg: BoundedPlainSequences.msg
Only in msgdefs/ros2iron/test_msgs/msg: BoundedSequences.msg
Only in msgdefs/ros2iron/test_msgs/msg: Constants.msg
Only in msgdefs/ros2iron/test_msgs/msg: Defaults.msg
Only in msgdefs/ros2iron/test_msgs/msg: Empty.msg
Only in msgdefs/ros2iron/test_msgs/msg: MultiNested.msg
Only in msgdefs/ros2iron/test_msgs/msg: Nested.msg
Only in msgdefs/ros2iron/test_msgs/msg: Strings.msg
Only in msgdefs/ros2iron/test_msgs/msg: UnboundedSequences.msg
Only in msgdefs/ros2iron/test_msgs/msg: WStrings.msg
diff -r msgdefs/ros2humble/tf2_msgs/msg/TF2Error.msg msgdefs/ros2iron/tf2_msgs/msg/TF2Error.msg
10a11
```
</details>

.github/workflows/ci.yml

@@ -28,6 +28,12 @@ jobs:
       - run: yarn run lint:ci
 
       - run: yarn pack
+      - name: Test commonjs import
+        run: yarn run test:commonjs
+      - name: Test esm import
+        run: yarn run test:esm
+      - name: Test types
+        run: yarn run test:types
       - name: Publish to NPM (dry run)
         # `yarn publish` does not support --provenance
         run: npm publish foxglove-rosmsg-msgs-common-*.tgz --provenance --access public --dry-run

msgdefs/ros2iron/action_msgs/msg/GoalInfo.msg

@@ -0,0 +1,15 @@
+# Goal ID
+unique_identifier_msgs/UUID goal_id
+
+# Time when the goal was accepted
+builtin_interfaces/Time stamp
+
+================================================================================
+MSG: unique_identifier_msgs/UUID
+# A universally unique identifier (UUID).
+#
+#  http://en.wikipedia.org/wiki/Universally_unique_identifier
+#  http://tools.ietf.org/html/rfc4122.html
+
+uint8[16] uuid
+

msgdefs/ros2iron/action_msgs/msg/GoalStatus.msg

@@ -0,0 +1,50 @@
+# An action goal can be in one of these states after it is accepted by an action
+# server.
+#
+# For more information, see http://design.ros2.org/articles/actions.html
+
+# Indicates status has not been properly set.
+int8 STATUS_UNKNOWN   = 0
+
+# The goal has been accepted and is awaiting execution.
+int8 STATUS_ACCEPTED  = 1
+
+# The goal is currently being executed by the action server.
+int8 STATUS_EXECUTING = 2
+
+# The client has requested that the goal be canceled and the action server has
+# accepted the cancel request.
+int8 STATUS_CANCELING = 3
+
+# The goal was achieved successfully by the action server.
+int8 STATUS_SUCCEEDED = 4
+
+# The goal was canceled after an external request from an action client.
+int8 STATUS_CANCELED  = 5
+
+# The goal was terminated by the action server without an external request.
+int8 STATUS_ABORTED   = 6
+
+# Goal info (contains ID and timestamp).
+GoalInfo goal_info
+
+# Action goal state-machine status.
+int8 status
+
+================================================================================
+MSG: action_msgs/GoalInfo
+# Goal ID
+unique_identifier_msgs/UUID goal_id
+
+# Time when the goal was accepted
+builtin_interfaces/Time stamp
+
+================================================================================
+MSG: unique_identifier_msgs/UUID
+# A universally unique identifier (UUID).
+#
+#  http://en.wikipedia.org/wiki/Universally_unique_identifier
+#  http://tools.ietf.org/html/rfc4122.html
+
+uint8[16] uuid
+

msgdefs/ros2iron/action_msgs/msg/GoalStatusArray.msg

@@ -0,0 +1,55 @@
+# An array of goal statuses.
+GoalStatus[] status_list
+
+================================================================================
+MSG: action_msgs/GoalStatus
+# An action goal can be in one of these states after it is accepted by an action
+# server.
+#
+# For more information, see http://design.ros2.org/articles/actions.html
+
+# Indicates status has not been properly set.
+int8 STATUS_UNKNOWN   = 0
+
+# The goal has been accepted and is awaiting execution.
+int8 STATUS_ACCEPTED  = 1
+
+# The goal is currently being executed by the action server.
+int8 STATUS_EXECUTING = 2
+
+# The client has requested that the goal be canceled and the action server has
+# accepted the cancel request.
+int8 STATUS_CANCELING = 3
+
+# The goal was achieved successfully by the action server.
+int8 STATUS_SUCCEEDED = 4
+
+# The goal was canceled after an external request from an action client.
+int8 STATUS_CANCELED  = 5
+
+# The goal was terminated by the action server without an external request.
+int8 STATUS_ABORTED   = 6
+
+# Goal info (contains ID and timestamp).
+GoalInfo goal_info
+
+# Action goal state-machine status.
+int8 status
+
+================================================================================
+MSG: action_msgs/GoalInfo
+# Goal ID
+unique_identifier_msgs/UUID goal_id
+
+# Time when the goal was accepted
+builtin_interfaces/Time stamp
+
+================================================================================
+MSG: unique_identifier_msgs/UUID
+# A universally unique identifier (UUID).
+#
+#  http://en.wikipedia.org/wiki/Universally_unique_identifier
+#  http://tools.ietf.org/html/rfc4122.html
+
+uint8[16] uuid
+

msgdefs/ros2iron/actionlib_msgs/msg/GoalID.msg

@@ -0,0 +1,11 @@
+
+# The stamp should store the time at which this goal was requested.
+# It is used by an action server when it tries to preempt all
+# goals that were requested before a certain time
+builtin_interfaces/Time stamp
+
+# The id provides a way to associate feedback and
+# result message with specific goal requests. The id
+# specified must be unique.
+string id
+

msgdefs/ros2iron/actionlib_msgs/msg/GoalStatus.msg

@@ -0,0 +1,37 @@
+GoalID goal_id
+uint8 status
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server.
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server.
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
+                            #   and has since completed its execution (Terminal State).
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server
+                            #   (Terminal State).
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
+                            #    to some failure (Terminal State).
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
+                            #    because the goal was unattainable or invalid (Terminal State).
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
+                            #    and has not yet completed execution.
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing, but
+                            #    the action server has not yet confirmed that the goal is canceled.
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
+                            #    and was successfully cancelled (Terminal State).
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not
+                            #    be sent over the wire by an action server.
+
+# Allow for the user to associate a string with GoalStatus for debugging.
+string text
+
+================================================================================
+MSG: actionlib_msgs/GoalID
+
+# The stamp should store the time at which this goal was requested.
+# It is used by an action server when it tries to preempt all
+# goals that were requested before a certain time
+builtin_interfaces/Time stamp
+
+# The id provides a way to associate feedback and
+# result message with specific goal requests. The id
+# specified must be unique.
+string id
+

msgdefs/ros2iron/actionlib_msgs/msg/GoalStatusArray.msg

@@ -0,0 +1,56 @@
+# Stores the statuses for goals that are currently being tracked
+# by an action server
+std_msgs/Header header
+GoalStatus[] status_list
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data
+# in a particular coordinate frame.
+
+# Two-integer timestamp that is expressed as seconds and nanoseconds.
+builtin_interfaces/Time stamp
+
+# Transform frame with which this data is associated.
+string frame_id
+
+================================================================================
+MSG: actionlib_msgs/GoalStatus
+GoalID goal_id
+uint8 status
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server.
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server.
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
+                            #   and has since completed its execution (Terminal State).
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server
+                            #   (Terminal State).
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
+                            #    to some failure (Terminal State).
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
+                            #    because the goal was unattainable or invalid (Terminal State).
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
+                            #    and has not yet completed execution.
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing, but
+                            #    the action server has not yet confirmed that the goal is canceled.
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
+                            #    and was successfully cancelled (Terminal State).
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not
+                            #    be sent over the wire by an action server.
+
+# Allow for the user to associate a string with GoalStatus for debugging.
+string text
+
+================================================================================
+MSG: actionlib_msgs/GoalID
+
+# The stamp should store the time at which this goal was requested.
+# It is used by an action server when it tries to preempt all
+# goals that were requested before a certain time
+builtin_interfaces/Time stamp
+
+# The id provides a way to associate feedback and
+# result message with specific goal requests. The id
+# specified must be unique.
+string id
+

msgdefs/ros2iron/builtin_interfaces/msg/Duration.msg

@@ -0,0 +1,10 @@
+# Duration defines a period between two time points.
+# Messages of this datatype are of ROS Time following this design:
+# https://design.ros2.org/articles/clock_and_time.html
+
+# Seconds component, range is valid over any possible int32 value.
+int32 sec
+
+# Nanoseconds component in the range of [0, 1e9).
+uint32 nanosec
+

msgdefs/ros2iron/builtin_interfaces/msg/Time.msg

@@ -0,0 +1,9 @@
+# This message communicates ROS Time defined here:
+# https://design.ros2.org/articles/clock_and_time.html
+
+# The seconds component, valid over all int32 values.
+int32 sec
+
+# The nanoseconds component, valid in the range [0, 1e9).
+uint32 nanosec
+

msgdefs/ros2iron/diagnostic_msgs/msg/DiagnosticArray.msg

@@ -0,0 +1,45 @@
+# This message is used to send diagnostic information about the state of the robot.
+std_msgs/Header header # for timestamp
+DiagnosticStatus[] status # an array of components being reported on
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data
+# in a particular coordinate frame.
+
+# Two-integer timestamp that is expressed as seconds and nanoseconds.
+builtin_interfaces/Time stamp
+
+# Transform frame with which this data is associated.
+string frame_id
+
+================================================================================
+MSG: diagnostic_msgs/DiagnosticStatus
+# This message holds the status of an individual component of the robot.
+
+# Possible levels of operations.
+byte OK=0
+byte WARN=1
+byte ERROR=2
+byte STALE=3
+
+# Level of operation enumerated above.
+byte level
+# A description of the test/component reporting.
+string name
+# A description of the status.
+string message
+# A hardware unique string.
+string hardware_id
+# An array of values associated with the status.
+KeyValue[] values
+
+
+================================================================================
+MSG: diagnostic_msgs/KeyValue
+# What to label this value when viewing.
+string key
+# A value to track over time.
+string value
+

msgdefs/ros2iron/diagnostic_msgs/msg/DiagnosticStatus.msg

@@ -0,0 +1,27 @@
+# This message holds the status of an individual component of the robot.
+
+# Possible levels of operations.
+byte OK=0
+byte WARN=1
+byte ERROR=2
+byte STALE=3
+
+# Level of operation enumerated above.
+byte level
+# A description of the test/component reporting.
+string name
+# A description of the status.
+string message
+# A hardware unique string.
+string hardware_id
+# An array of values associated with the status.
+KeyValue[] values
+
+
+================================================================================
+MSG: diagnostic_msgs/KeyValue
+# What to label this value when viewing.
+string key
+# A value to track over time.
+string value
+

msgdefs/ros2iron/diagnostic_msgs/msg/KeyValue.msg

@@ -0,0 +1,5 @@
+# What to label this value when viewing.
+string key
+# A value to track over time.
+string value
+

msgdefs/ros2iron/geometry_msgs/msg/Accel.msg

@@ -0,0 +1,28 @@
+# This expresses acceleration in free space broken into its linear and angular parts.
+Vector3  linear
+Vector3  angular
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space.
+
+# This is semantically different than a point.
+# A vector is always anchored at the origin.
+# When a transform is applied to a vector, only the rotational component is applied.
+
+float64 x
+float64 y
+float64 z
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space.
+
+# This is semantically different than a point.
+# A vector is always anchored at the origin.
+# When a transform is applied to a vector, only the rotational component is applied.
+
+float64 x
+float64 y
+float64 z
+