Migrate convert_pointcloud_to_image to ROS 2

[FelipeGdM]

This PR aims to migrate the code of convert_ponintcloud_to_image to the ROS 2 API

Most of the changes are pretty straightforward, I think it would be interesting to think about creating a component to perform node composition so it would be possible to integrate it with existing data pipeline in ROS 2 and take advantage of zero-copy transport, but this discussion is beyond the scope of this PR.

A important technical debt is that there is no method to resolve remapped topics in foxy (see https://github.com/ros2/rclcpp/pull/1410 for their implementation in galactic), so the log message doesn't display the same information as before. The version that would work in newer versions of ROS is present in comment form, so it is possible to just uncomment those when merging to the main branch.