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ROS On ZeroMQ

ROS On ZeroMQ采用优秀的底层通信框架ZeroMQ作为多机通信介质，并适配ROS 原生API及消息定义。
ROS在多个主机间运行时，可以通过ROS_MASTER_URI进行通信，但是在非可靠连接乃至局域网内由于种种原因该通信机制并不可靠。
该工程类似与ROS seial

graph LR;
ROSMaster-->ROSnode(local); ROSMaster-->ZMQBRoker(local);
ZMQBRoker-->ZMQNode(remote);
ZMQBRoker-->ZMQNode(remote);


初步版本，当前仅支持从ROS到ZMQ，和ZMQ到ROS的消息通信

TODO:

  1. ZMQNode到ZMQNode直接通信
  2. RPC机制支持
  3. 本机判断并增加共享内存支持

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