Gate Pose Estimation

[Jared-Chan]

Extend the package triton_gate and create a new publisher that publishes the pose of a detected gate. The message type should be geometry_msgs::msg::Pose from ROS2 so that it could be used as a way-point or a desired pose for the control system. The pose should be in the local frame, meaning the AUV is at the origin.

This file implements a calculate_gate_pose function, which could be adapted to fit our needs, but it is in Python and the pose is in a different format.

It could be built on top of the branch 'jared/gate_cam_test' as it contains a camera_test package useful for debugging nodes that are subscribed to image topics.