ROS2 Tests

updates to README and add back smoke test #108

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Run time

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Job	Run time
Test ROS2 humble	5m 5s
Test ROS2 jazzy	5m 8s
Test ROS2 kilted	4m 45s
Test ROS2 iron	4m 58s
Test ROS2 rolling	5m 5s
	25m 1s