[FEA] Add sensor_msgs/Image adapter to cuda device ptr and cv::cuda::GpuMat.

[ZhenshengLee]

this issue is like #1

the reference impl is in
https://github.com/ZhenshengLee/ros2_shm_msgs/blob/humble/cuda/cuda_image_container.hpp
https://github.com/ZhenshengLee/ros2_shm_msgs/blob/humble/cuda/gmat_image_container.hpp

[roncapat]

Hi @ZhenshengLee, what are you suggesting to do here? To add to this repository the two implementations? Let me know :)

[ZhenshengLee]

what are you suggesting to do here

1. the type adaption example doesn't belong the ros2_shm_msgs repo
2. As the ros2_shm_msgs is the repo for loaned based zero copy, which was still not the best solution for high performance msg transport(the loaned api was disabled by default in the newer version of ros2 including humble). There needs a complete solution for type adaption zero copy.
3. isaac-ros-nitros, which is nvidia's effort of REP2007 and REP2009 is too complicated to use easily, in other word, the isaac-ros-nitros is so heavy.
4. I suggest this repo become complete, not only for image and pointcloud type in cpu, but also for cuda types, even tensorrt types(which is tensorList), and examples, tests added to the repo. This makes the repo become a true power for ros2 developers.

[roncapat]

Ah ok, I understand your points. May I ask if you can open a draft PR so that we can start reviewing some details / add few related documentation bits and so on?

[ZhenshengLee]

OK, I will add a PR after my holiday.