Update to Pydantic 2.9

[Perseus101]

Closes #352

[flynneva]

@Perseus101 see my comment on the issue:

#352 (comment)

We cant do this until rolling upgrades to the next Ubuntu version, since it will break the ROS CI since rosdep uses "sudo apt-get install python3-pydantic" to install pydantic, and that is not 2.9 for all ROS active ros distros right now.

[Perseus101]

I didn't see your fix in #360 , so I was just trying to hack together any fix at all.

Would you prefer I just close this, or leave it open until the apt pydantic package updates?

[flynneva]

@Perseus101 I'm fine with leaving it open if you are..but I don't think rolling is changing from Ubuntu 24.04 until 2026, and it doesn't look like they are back porting the default pydantic version to be >2.9 for 24.04 anytime soon 😅 so this PR might be open for a few years before it's merged.