Refactoring & new features

[Juancams]

Check this before filling out

• I have checked that the feature I propose is not proposed by someone else.
• I have checked that the feature I propose is not already implemented.
• I confirm that the feature is my own.

ROS 2 Version

• Foxy 🦊
• Humble 🐢
• Jazzy 🎺

Packages involved in the feature

• go2_bringup
• go2_description
• go2_driver
• go2_hardware
• go2_interfaces
• go2_navigation
• go2_robot
• go2_rviz
• go2_simulation
• go2_tts
• go2_tts_interfaces
• go2_voxel_map
• unitree_api
• unitree_go
• new_package

New packages involved

No response

New Feature

tts, voxel, camera, vui and some other services/interfaces