Remove ROS 2 dependencies

[erichlf]

The current status of the parser is that it only depends on ROS 2 for logging. Additionally, the standard and intended install method is via colcon. Neither of these are hard requirements as the python logging is a simple drop in replacement for rclpy.logging and the build could be accomplished by either colcon or python wheels.

For logging the ticket #8 covers this and an PR for it is already in place.

Building will need to be thought completely to be sure that is no disruption to ROS 2 users, but non-ROS 2 user gain an easy install method.