[TASK] Refactor node unit tests from bash to launch testing framework

[jorgenfj]

Description of task

Refactor the Node tests under tests/ros_node_tests/ to use the launch_testing framework.
These tests can then be moved into their respective packages.

Suggested Workflow

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Specifications

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Contacts

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Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)