Breaking Changes

• Requires armw (!21 (merged))

New Features / Improvements

• Added ROS2 support (!21 (merged))
• Switch to pyproject.toml setup with setuptools_scm versioning (!22 (merged))

Bugfixes

• Fixed a bug in an exception handler that could fail due to referencing a potentially-undefined variable in an error message. (!20 (merged))
• Misc cleanup, fixed formatting (!20 (merged))
• Removed unused imports in ROS message codecs (!20 (merged))

Documentation

• Improved docstrings (!20 (merged))