[trees|subscribers|battery] enable ros2 behaviours #73
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And apply to the battery / subscriber behaviours.
Needed to take advantage of the new **kwargs approach via setup to pass a ros2 node into the behaviour (which subsequently needed to avoid multiprocessing
setup()back inpy_trees). The alternative is to let behaviours fire up nodes individually and collect them back out the front, but that would leave you with a multi-node process which is problematic for ros2 launch right now.