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Refs #3486 - Create Readme.md for uROS agent

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Javier Moreno
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README.md
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# micro-ros-agent
# Overview
This repo contains the Micro-Ros Agent package.
Micro-Ros Agent is a ROS2 node that wrapps the Micro XRCE-DDS Agent.
For farther information about Micro XRCE-DDA Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
The node acts as a server between DDS Network and Micro-ROS nodes.
It will receive messages containing operations from Micro-ROS nodes, keep track of the Micro-ROS nodes.
The node will interact with DDS Global Data Space on behalf of the Micro-ROS nodes.
While the node is running, it attends any received request from the Micro-ROS nodes and will answers back with the result of a request each time a request is attended.
# Package features
## XML generation
During the build proces, the package will look for all ROS2 / Micro-ROS messages in order to generare XML profiles.
This XML file can be referenced in the Agent-Client comunication in order to avoid sending the full XML content.
## Agent-Client comunication mechanims
Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two kind transports:
- UDP
- SerialPort.
# Node configuration
## Transport type
### udp
### Serial port