Setup transform tree and ROS interfaces

[smriti-kumar]

• Use TF2 ROS package, required to relate different coordinate systems
• Nav2 requires map => odom, odom => base_link, and base_link => base_laser transforms, we should also add camera_link
• base_link is center of car, base_laser is position of LiDAR on car, odom is for EKF, map is global reference frame
• Visualize in Rviz to make sure mapping is correct
• Read more about transforms here

[lucaslibshutz]

Current Commit: cornellev/igvc_transforms@b643da4

I got the transform tree working, which is all integrated via pixi. To do so, simply run pixi install to get everything working, and then pixi run launch to run the ros2 launch script to launch the node, which will instantiate the tree (it even works on macOS!!)

I think some good next steps are to get locations of sensors for both Merceves and the IGVC vehicle, so that we can easily switch between both. I have the sensor configuration in a .yaml file for easier editing, so we don't have to dig through a xacro file to just edit some orientation and position parameters. So once we have that I think we should be good