Improved Integration Testing Utilizing rosapi

[Carter12s]

Goal is to improve robustness of our testing by leveraging the rosapi node to check the secondary side effects are executing correctly. To do this we need to get a CI docker image which includes both rosbridge and rosapi node and modify CI script to also start rosapi along with rosbridge ahead of integration tests.

This slightly builds on the issue for building a wrapper for rosapi.

Actual tests I'd like to build:

• Confirm publisher unadvertise on Drop actually works by calling rosapi to get list of topics after it is dropped
• Confirm service unadvertise on Drop actually works by calling rosapi to get list of topics after it is dropped
• Actually execute the examples in CI and confirm they pass