feat: add latency_tester to test comms latency

src/latency_tester/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.8)
+project(latency_tester)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# Add embedded ping node
+add_executable(embedded_ping src/embedded_ping.cpp)
+ament_target_dependencies(embedded_ping rclcpp std_msgs)
+
+install(TARGETS
+  embedded_ping
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()