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Merge test_delay_2robots and test_multiple_robots_sync into test_synchronize_channel
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This set of commits migrates MOCHA to ROS 2, independent of the middleware being used downstream. It is recommended that the different robots run in different DOMAIN_ID, or that ROS_AUTOMATIC_DISCOVERY_RANGE is set to LOCALHOST, so that ROS does not interfere with the message transmission in MOCHA.