Bring ros2-devel back into ros2 mainline. #29
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* Port compress_depth_image_transport to ROS2 * Specifiers final for methods * Use rcutils logging * Implement parameters for encoding * Use RCLCPP_* macros instead of rcutils
* Port theora plugin to ROS2 * Implement network options from ROS1 into rmw_qos_profile_t * Improve comment to clarify the use of dynamic reconfigure in ROS1 * Use RCLCPP logging instead of RCUTILS * Addressed reviewer comments
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