Run ROS2 build in CI and fix any errors

[Ryanf55]

Extends #30 by adding working CI. As part of this PR (I could split off if needed), I did the following:

CI Changes

• Run on Gitlab's public runners instead of self hosted. Without this, people forking the repo would have the actions hang forever.
• CI runs colcon build and colcon test

Other changes necessary to get CI to pass

• All rosdep dependencies are resolving correctly, and none are missing for compilation success
• Remove unused rosdep keys and packages
• Add in fixes for Ubuntu packaging errors on GeographicLib
• Remove the custom cmake scripts for GeographicLib datasets (perhaps these are still needed?)