Add aruco pose estimate to gstreamer pipeline

[ErikCald]

This pull request introduces ArUco marker pose estimation to the video streaming package, integrating OpenCV-based marker detection and pose calculation into the ROS2 pipeline. It adds a new ArucoPoseEstimator class, updates the DetectNode to support this feature, and enables dynamic camera selection and publishing of detected marker poses. Several dependencies are added to support image processing and message passing.

ArUco marker pose estimation integration:

• Added new files aruco_pose_estimate.hpp and aruco_pose_estimate.cpp implementing the ArucoPoseEstimator class for detecting ArUco markers, estimating their pose using OpenCV, and publishing results as ArucoMarkers messages. The estimator manages camera calibration parameters and supports multiple cameras. [1] [2]
• Updated DetectNode to instantiate and use ArucoPoseEstimator, connect to the GStreamer pipeline via an appsink, and process frames for pose estimation when ArUco detection is enabled. [1] [2] [3] [4] [5] [6] [7]

Pipeline and node enhancements:

• Modified the GStreamer pipeline in DetectNode to branch the ArUco detection output to both the custom estimator (via appsink) and the existing marker detector.
• Added support for dynamic camera selection: InputNode publishes the active camera name, and DetectNode subscribes to this topic to select the correct calibration and frame mapping. [1] [2] [3] [4] [5] [6] [7]

Dependency and build configuration updates:

• Added required ROS2 and OpenCV dependencies to CMakeLists.txt and package.xml for image processing, message transport, and bridge functionality. [1] [2] [3]

Other improvements:

• Minor code cleanups and removal of obsolete comments in input_node.cpp. [1] [2]

These changes collectively enable robust ArUco marker pose detection, support for multiple cameras, and seamless integration with the ROS2 ecosystem.

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[ConnorNeed]

Did you still need this or are you using the ZED camera?