Robust topic negotiation

Now topics are negotiated when requested by ROS, no connection is lost.

Different serial uses available.

In this version, basically I have done the following:

• Enabled to use different serial options as specified in the README.
• Formatted the code entirely using black.
• Print changed by logging, logging added as dependency.

rosserial for upy - basic features

In the current source code you will be able to publish and subscribe to topic with the standard messages.