Use ROS2 common message if possible

[tame0001]

I just found a list of predefined message types in ROS2 here. It would be good if we can utilize them instead of define our own message type if possible because:

1. It recedes our code maintenance. We don't need to define message types and put them in multiple packages/repos
2. Predefine message type has code documents and well-design. It gives us ideas what to do or have in our code
3. Compatibility. We can use other ROS libraries with ease. Such as Nav2, which we will use for Navigation. It will be easier when you go on internship and jobs in the future too.

Although those message types could be overkill for our work in some cases, I still think it's worth to look into this library and make use of it.