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[ros2] Port diff_drive plugin to ros2 #806
I finished most of the port and started the migration guide. Also:
When visualizing TF on RViz, note that due to ros2/rviz#332 the wheels are not updating correctly, but the TF is being properly published:
@tfoote , I haven't addressed the QoS comments you left. If you don't have time for it once you're back, I can take a stab at it.