Port https://github.com/Ekumen-OS/Noah-bot-simulation-ros2/pull/13, https://github.com/Ekumen-OS/Noah-bot-simulation-ros2/pull/8 and https://github.com/Ekumen-OS/Noah-bot-simulation-ros2/pull/11 to https://github.com/Ekumen-OS/Noah-bot-simulation-ros2/tree/humble
