Migrate Rviz support from ROS1 to ROS2

Upstream effort from the ROS mantainers has shifted from years from ROS1 to ROS2. To avoid future mantainance problem, it would be great to migrate the part of this repo that depend on ROS1 to ROS2 (fortunatly it should not be a lot).

A generic documentation for this is available in https://docs.ros.org/en/humble/The-ROS2-Project/Contributing/Migration-Guide.html, but for this specific task the script proposed in https://github.com/ros2/rviz/pull/882 could be quite useful.