rosbag2 support

[sshawn9]

The last ros version noetic will reach EOL at May, 2025, and ros2 will be widely used.

[Magic-wei]

Examples of ROS/ROS2 compatibility:

• https://gitlab.com/ternaris/rosbags
• https://github.com/carla-simulator/ros-bridge/blob/master/ros_compatibility/src/ros_compatibility/node.py