WIP: Update project to 0.0.2 using rclcpp::waitset

[carlossvg]

Summary:

• Remove topic statistics support. It's not a real-time safe approach to report statistics.
• Refactor launch files. Separated in different launch files. Now it's possible to run each node and rviz ndividually.
• Process settings command-line options moved to yaml param files. Process settings added as parameters.
• Refactor process settings tool class. No command-line arguments.
• Created pendulum_tests package to implement integrations tests.
• Removed some integration tests. Integration test go now in pendulum_tests.
• Removed pendulum_demo package. Executables are now self-contained in their package. There is no composition executable. Each node runs in its own process.
• Removed deadline QoS support. Deadlines are detected using wait-sets.
• Created real-time loop using a wait-set.
• Launch files run nodes in separate processes.
• Real-time tasks are run in a separate thread.
• Shared variables between real-time thread and non-real-time thread use RealtimeObject or atomics.
• Add test to catch dynamic memory allocations in real-time safe functions.
• Add common PendulumStatus data struct.
• QoS depth changed to 1. We only care about most recent message.
• Default update period changed to 1ms.

TODO:

• [ ] Bump version to 0.0.2
• [ ] Update instructions
• [x] Document code
• [x] Add RT params
• [ ] Add duration option