Clean Codebase

[henningkayser]

General (non-technical) cleanup steps and linting tools for better consistency in the code and maintainability.

TODOs

• ament_lint, clang-tidy-fix (Enable clang-tidy-fix and ament_lint_cmake #210)
• Unify logging, apply logger name conventions across codebase
• Use RCL_ROS_TIME where applicable
• Remove redundant meta packages
• Update documentation, cleanup ROS 1 references (i.e. NodeHandle, parameter server... )
• Remove commented and deprecated code, outdated TODO's

Old description:

In order enforce clean coding standards using clang-format, clang-tidy (others?) we should enable ament-lint for all packages (https://github.com/ament/ament_lint).

Related/duplicate with #98. (https://ubuntu.com/blog/how-to-add-a-linter-to-ros-2)

[henningkayser]

There are also a bunch of other linters that we can check for in CI or run with ament. I'm thinking of enabling ament_cpp_common at some point, but we probably want to maintain our own ruleset for this. The next ones to enable are imo:

• ament_cppcheck - only shows 11 errors in MoveIt for me
• ament_cpplint - shows 3618 errors with --linelength set to 120, but thiese include a lot of formatting issues (i.e. else should be in same line as }) and overall redundancy, so maybe we can get this enabled with our own rules while keeping the diff to MoveIt1 minimal