Migrate Serial Comm Node to AMP_ASSv2

[zghera]

Description

We need to move the current state of the serial communication node from AMP_ASSv1 to AMP_ASSv2.

Ideally with PRs we shoot for a single, small, tested addition to make everyone's (code reviewers, anyone who wants to go through the commit history, etc.) lives easier. However, the evolution of the serial comm code has been an... adventure. Given the circumstances, this issue (and the associated PR) involves moving over all of the critical code from the ti_comm folder (in ~/src) based on the state of the ti_comm_dev branch now (i.e. as of this commit).

These components include:

• The ROS package and necessary source files (e.g. CMakeLists.txt, amp_serial_jetson.cpp, etc.)
• The current libserialport folder as a git submodule.
• The build script.

Another note: now that we have the chance to "start anew," we should make some efforts to rename things appropriately. Including but not limited to:

• ti_comm(_node) -> serial_comm(_node).
• amp_serial_jetson.cpp -> serial_comm.cpp (or something similar and consistent with the package name).

No other code related to new projects should be moved over (i.e. the ones in #8 and #9).

Sub-tasks

• Create new serial_comm repo.
• Rename and clean up codebase to minimize repetition and unnecessary descriptors.
• Include the submodule to this code base

Resources

• ...

[alanssitis]

Talked with @aaaakshat and @FraserD404 on how to approach this. Might be best to have the serial node be in its own repository and have it be imported as a submodule.

This option will allow serial to have multiple working branches without affecting this repo and give us better control on the version of serial comm used.