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Move functions to convert between ROS and proto messages into top-level spot_ros2 namespace (#276)

- Changes the namespace of the convertToRos and convertToProto utility functions to put them in top-level
  spot_ros2 namespace. Previously they were in specific namespaces depending on the type of messages
  they converted.
- Pass an input parameter by const reference instead of by const value.
- Expand and parameterize test case for ArmJointPosition message conversion.
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Co-authored-by: Griswald Brooks <157394791+gbrooks-bdai@users.noreply.github.com>

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