first draft of the ROS contribution

Change-Id: I7569da1fafa5264f9d563f3b055fe23f0cd22d43
include Dirk's comments

Change-Id: I272b32af1cda92157077c1f887c819b65b235640
remove code generation, this is package specific, + cleanups
add Dimitri's feedback

Change-Id: I35a35d246d86b03921685f73a55098b6b1f419df