Lyrical luth support

[george-pippos-rumata]

ROS2 Lyrical Luth brings with it the "callback group events executor" which greatly (10-15%) reduces the overhead of the ROS2 executor. I.e. it would be highly advantageous to be able to take advantage of this new feature.

So to this end, it would be great to have support for the latest LTS release of ROS2 so that we could take advantage of this within our system.

[jaiveersinghNV]

We are as excited about ROS 2 Lyrical as you are! NVIDIA has made several contributions to this new release, including the rosidl::Buffer.

We will continue to work on upgrading and testing the Isaac ROS ecosystem on Lyrical over the coming months.

In the meantime, you are welcome to clone our Isaac ROS source code from scratch and recompile to target your desired ROS 2 distro.

[Priyanshu31102003]

I'm highly interested in tracking this migration to ROS 2 Lyrical as well! The 10-15% reduction in executor overhead via the new callback group events executor will be a massive performance booster for real-time isaac_ros_visual_slam workloads on edge devices.

Looking forward to the upstream changes, and I'd be happy to help test the compilation/compatibility on an Ubuntu local environment once the initial migration hooks are ready for community testing!