Enhancement: Investigate the meta-ros class files to move away from setup.py to pyproject.toml with setup.cfg file

[robwoolley]

Investigate the meta-ros class files to move away from setup.py to pyproject.toml with setup.cfg file

The larger ROS community has a difficult challenge of supporting old RHEL releases with older Python versions. There are also packages like NumPy that aren't ready to transition.

We should investigate where we can use the new pyproject.toml files when packages are autogenerating files.